seed-013-2-treatment_v77_local_corridor_renderer-point-only-composed-v77-visual-treatmentSUCCESS

#1observet+ 0.0s

arguments

{
  "views": [
    "agentview"
  ],
  "history_point_ids": null
}

response

{
  "success": true,
  "observation_id": "obs-000002",
  "views": [
    "agentview"
  ],
  "grip_xyz_m": [
    -0.1512,
    0.002,
    0.2627
  ],
  "aperture_mm": 77.45,
  "aperture_limits_mm": {
    "open": 80.0,
    "near_closed": 3.5
  }
}

#2mark_pointt+ 6.2s

arguments

{
  "point_id": "cream",
  "view": "agentview",
  "x": 194,
  "y": 313
}

response

{
  "success": true,
  "status": "pending",
  "point_id": "cream",
  "next_views": [
    "pointcloud_top",
    "pointcloud_front",
    "pointcloud_side"
  ]
}

#3mark_pointt+ 16.6s

arguments

{
  "point_id": "cream",
  "view": "pointcloud_top",
  "x": 130,
  "y": 205
}

response

{
  "success": false,
  "reason": "outside_ray_workspace",
  "retryable": true,
  "point_id": "cream",
  "message": "Choose the cyan visible-surface marker on the rendered workspace ray. In pointcloud_top, that surface projects to [212, 237]."
}

{
  "point_id": "cream",
  "view": "pointcloud_top",
  "x": 212,
  "y": 237
}

{
  "success": true,
  "status": "solved",
  "point_id": "cream",
  "xyz_m": [
    0.06422189278348023,
    -0.10437586475145025,
    0.018397842424675348
  ]
}

#5mark_pointt+ 24.2s

arguments

{
  "point_id": "basket_interior",
  "view": "agentview",
  "x": 404,
  "y": 267
}

response

{
  "success": true,
  "status": "pending",
  "point_id": "basket_interior",
  "next_views": [
    "pointcloud_top",
    "pointcloud_front",
    "pointcloud_side"
  ]
}

{
  "point_id": "basket_interior",
  "view": "pointcloud_top",
  "x": 214,
  "y": 137
}

{
  "success": true,
  "status": "solved",
  "point_id": "basket_interior",
  "xyz_m": [
    0.0706787639427886,
    0.2356272607885688,
    0.11484273899163333
  ]
}

#7move_tot+ 41.7s

arguments

{
  "xyz_m": [
    0.06422,
    -0.10438,
    0.0984
  ],
  "approach_world": [
    0.0,
    0.0,
    -1.0
  ],
  "gripper": "open"
}

response

{
  "success": true,
  "motion": "reached",
  "grip_xyz_m": [
    0.064994,
    -0.104552,
    0.100747
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 79.81,
  "approach_world": [
    -0.057437,
    0.000343,
    -0.998349
  ],
  "jaw_world": [
    4.3e-05,
    1.0,
    0.000341
  ]
}

#8move_tot+ 50.3s

arguments

{
  "xyz_m": [
    0.06422,
    -0.10438,
    0.0264
  ]
}

response

{
  "success": false,
  "motion": "not_reached",
  "grip_xyz_m": [
    0.065127,
    -0.103754,
    0.044332
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "remaining_delta_mm": [
    -0.907145,
    -0.625953,
    -17.931765
  ],
  "aperture_mm": 79.94
}

#9move_tot+ 56.8s

arguments

{
  "gripper": "close",
  "preview": true
}

response

{
  "success": true,
  "preview_id": "P-cf004e54327a",
  "motion": "previewed",
  "views": [
    "agentview_candidate_pose_overlay",
    "pointcloud_front",
    "pointcloud_side"
  ]
}

#10move_tot+ 64.1s

arguments

{
  "execute_preview_id": "P-cf004e54327a"
}

response

{
  "success": true,
  "motion": "not_requested",
  "grip_xyz_m": [
    0.06447,
    -0.103487,
    0.045394
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 1.0
}

#11move_tot+ 82.5s

arguments

{
  "delta_mm": [
    0.0,
    0.0,
    80.0
  ],
  "delta_frame": "world"
}

response

{
  "success": true,
  "motion": "reached",
  "grip_xyz_m": [
    0.06395,
    -0.10403,
    0.122809
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 1.0
}

#12move_tot+ 94.8s

arguments

{
  "approach_world": [
    0.0,
    0.0,
    -1.0
  ],
  "jaw_world": [
    1.0,
    0.0,
    0.0
  ],
  "gripper": "open"
}

response

{
  "success": true,
  "motion": "reached",
  "grip_xyz_m": [
    0.062357,
    -0.102826,
    0.121607
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 79.6,
  "approach_world": [
    0.002557,
    -0.00505,
    -0.999984
  ],
  "jaw_world": [
    0.998715,
    0.05062,
    0.002298
  ]
}

#13move_tot+ 105.0s

arguments

{
  "xyz_m": [
    0.06422,
    -0.10438,
    0.044
  ]
}

response

{
  "success": true,
  "motion": "reached",
  "grip_xyz_m": [
    0.064224,
    -0.103686,
    0.046222
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 79.93
}

#14move_tot+ 111.5s

arguments

{
  "gripper": "close",
  "preview": true
}

response

{
  "success": true,
  "preview_id": "P-59ca31f71814",
  "motion": "previewed",
  "views": [
    "agentview_candidate_pose_overlay",
    "pointcloud_front",
    "pointcloud_side"
  ]
}

#15move_tot+ 117.7s

arguments

{
  "execute_preview_id": "P-59ca31f71814"
}

response

{
  "success": true,
  "motion": "not_requested",
  "grip_xyz_m": [
    0.064341,
    -0.103394,
    0.04629
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 1.0
}

#16move_tot+ 143.1s

arguments

{
  "xyz_m": [
    0.064,
    -0.15,
    0.12
  ],
  "approach_world": [
    0.0,
    1.0,
    0.0
  ],
  "jaw_world": [
    1.0,
    0.0,
    0.0
  ],
  "gripper": "open"
}

response

{
  "success": false,
  "motion": "not_reached",
  "grip_xyz_m": [
    0.081258,
    -0.097517,
    0.099464
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "remaining_delta_mm": [
    -17.257702,
    -52.482658,
    20.535952
  ],
  "approach_world": [
    -0.004674,
    0.998475,
    -0.055016
  ],
  "jaw_world": [
    0.999212,
    0.006831,
    0.039099
  ]
}

#17observet+ 157.4s

arguments

{
  "views": [
    "agentview",
    "wrist"
  ],
  "history_point_ids": null
}

response

{
  "success": true,
  "observation_id": "obs-000013",
  "views": [
    "agentview",
    "wrist"
  ],
  "grip_xyz_m": [
    0.0813,
    -0.0975,
    0.0995
  ],
  "aperture_mm": 1.0
}

#18mark_pointt+ 167.8s

arguments

{
  "point_id": "cream_top2",
  "view": "agentview",
  "x": 194,
  "y": 299
}

response

{
  "success": true,
  "status": "pending",
  "point_id": "cream_top2",
  "next_views": [
    "pointcloud_top",
    "pointcloud_front",
    "pointcloud_side"
  ]
}

#19mark_pointt+ 174.0s

arguments

{
  "point_id": "cream_top2",
  "view": "pointcloud_top",
  "x": 201,
  "y": 204
}

response

{
  "success": false,
  "reason": "inconsistent_views",
  "retryable": true,
  "point_id": "cream_top2",
  "message": "The two clicks disagree; choose the same 3D feature in a complementary view. In pointcloud_top, that surface projects to [200, 238]."
}

{
  "point_id": "cream_top2",
  "view": "pointcloud_top",
  "x": 200,
  "y": 238
}

{
  "success": true,
  "status": "solved",
  "point_id": "cream_top2",
  "xyz_m": [
    0.026588956341395464,
    -0.10748568823890937,
    0.020179945174358394
  ]
}

#21move_tot+ 195.4s

arguments

{
  "xyz_m": [
    0.0454,
    -0.106,
    0.12
  ],
  "approach_world": [
    0.0,
    0.0,
    -1.0
  ],
  "jaw_world": [
    0.0,
    1.0,
    0.0
  ],
  "gripper": "open"
}

response

{
  "success": false,
  "motion": "not_reached",
  "grip_xyz_m": [
    0.130936,
    -0.104707,
    0.127974
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "remaining_delta_mm": [
    -85.536055,
    -1.292996,
    -7.974033
  ],
  "approach_world": [
    -0.252153,
    0.037533,
    -0.966959
  ],
  "jaw_world": [
    0.006375,
    0.99929,
    0.037125
  ]
}

#22move_tot+ 204.8s

arguments

{
  "xyz_m": [
    0.08,
    -0.106,
    0.13
  ]
}

response

{
  "success": false,
  "motion": "not_reached",
  "grip_xyz_m": [
    0.135563,
    -0.111459,
    0.153825
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "remaining_delta_mm": [
    -55.563234,
    5.458903,
    -23.825259
  ],
  "aperture_mm": 1.0
}

#23move_tot+ 212.9s

arguments

{
  "gripper": "open"
}

response

{
  "success": true,
  "motion": "not_requested",
  "grip_xyz_m": [
    0.155924,
    -0.114888,
    0.168732
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 79.6
}

#24move_tot+ 229.0s

arguments

{
  "xyz_m": [
    -0.05,
    0.0,
    0.25
  ],
  "approach_world": [
    0.0,
    0.0,
    -1.0
  ],
  "jaw_world": [
    0.0,
    1.0,
    0.0
  ]
}

response

{
  "success": false,
  "motion": "not_reached",
  "grip_xyz_m": [
    0.166922,
    -0.116514,
    0.177503
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "remaining_delta_mm": [
    -216.921927,
    116.514291,
    72.496571
  ],
  "aperture_mm": 79.99,
  "approach_world": [
    -0.074297,
    0.011451,
    -0.99717
  ],
  "jaw_world": [
    0.001263,
    0.999934,
    0.011389
  ]
}

#25move_tot+ 240.0s

arguments

{
  "delta_mm": [
    0.0,
    0.0,
    -100.0
  ],
  "delta_frame": "grip_site"
}

response

{
  "success": false,
  "motion": "not_reached",
  "grip_xyz_m": [
    0.170038,
    -0.116953,
    0.27337
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "remaining_delta_mm": [
    4.31335,
    -0.706095,
    3.850833
  ],
  "aperture_mm": 79.99
}

#26move_tot+ 249.8s

arguments

{
  "xyz_m": [
    0.0454,
    -0.106,
    0.12
  ],
  "approach_world": [
    0.0,
    0.0,
    -1.0
  ],
  "jaw_world": [
    0.0,
    1.0,
    0.0
  ]
}

response

{
  "success": true,
  "motion": "reached",
  "grip_xyz_m": [
    0.044154,
    -0.104719,
    0.119567
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 79.99,
  "approach_world": [
    -0.040537,
    0.005474,
    -0.999163
  ],
  "jaw_world": [
    0.001617,
    0.999984,
    0.005413
  ]
}

#27move_tot+ 259.3s

arguments

{
  "xyz_m": [
    0.0454,
    -0.106,
    0.026
  ]
}

response

{
  "success": true,
  "motion": "reached",
  "grip_xyz_m": [
    0.045371,
    -0.105438,
    0.028556
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 79.99
}

#28move_tot+ 267.5s

arguments

{
  "gripper": "close",
  "preview": true
}

response

{
  "success": true,
  "preview_id": "P-de418dbea1ff",
  "motion": "previewed",
  "views": [
    "agentview_candidate_pose_overlay",
    "pointcloud_front",
    "pointcloud_side"
  ]
}

#29move_tot+ 275.3s

arguments

{
  "execute_preview_id": "P-de418dbea1ff"
}

response

{
  "success": true,
  "motion": "not_requested",
  "grip_xyz_m": [
    0.045464,
    -0.105321,
    0.028614
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 1.0
}

#30move_tot+ 294.8s

arguments

{
  "delta_mm": [
    0.0,
    0.0,
    60.0
  ],
  "delta_frame": "world",
  "gripper": "open"
}

response

{
  "success": true,
  "motion": "reached",
  "grip_xyz_m": [
    0.04525,
    -0.106238,
    0.086182
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 79.6
}

#31move_tot+ 308.9s

arguments

{
  "xyz_m": [
    0.0454,
    -0.106,
    0.008
  ]
}

response

{
  "success": true,
  "motion": "reached",
  "grip_xyz_m": [
    0.045424,
    -0.10549,
    0.010197
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 79.93
}

#32move_tot+ 318.1s

arguments

{
  "gripper": "close",
  "preview": true
}

response

{
  "success": true,
  "preview_id": "P-fd88ab691248",
  "motion": "previewed",
  "views": [
    "agentview_candidate_pose_overlay",
    "pointcloud_front",
    "pointcloud_side"
  ]
}

#33move_tot+ 325.0s

arguments

{
  "execute_preview_id": "P-fd88ab691248"
}

response

{
  "success": true,
  "motion": "not_requested",
  "grip_xyz_m": [
    0.045576,
    -0.105364,
    0.010418
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 42.03
}

#34move_tot+ 335.4s

arguments

{
  "delta_mm": [
    0.0,
    0.0,
    90.0
  ],
  "delta_frame": "world"
}

response

{
  "success": true,
  "motion": "reached",
  "grip_xyz_m": [
    0.044991,
    -0.105931,
    0.098116
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 42.22
}

#35move_tot+ 352.0s

arguments

{
  "xyz_m": [
    0.07068,
    0.23563,
    0.21484
  ]
}

response

{
  "success": true,
  "motion": "reached",
  "grip_xyz_m": [
    0.072066,
    0.234184,
    0.216041
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 42.22
}

#36move_tot+ 364.6s

arguments

{
  "xyz_m": [
    0.07068,
    0.23563,
    0.17
  ]
}

response

{
  "success": true,
  "motion": "reached",
  "grip_xyz_m": [
    0.071391,
    0.235097,
    0.172318
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 42.22
}

#37move_tot+ 374.2s

arguments

{
  "gripper": "open"
}

response

{
  "success": true,
  "motion": "not_requested",
  "grip_xyz_m": [
    0.071563,
    0.234913,
    0.172441
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 79.61
}

#38move_tot+ 389.8s

arguments

{
  "delta_mm": [
    0.0,
    0.0,
    90.0
  ],
  "delta_frame": "world"
}

response

{
  "success": true,
  "motion": "reached",
  "grip_xyz_m": [
    0.071221,
    0.235344,
    0.260232
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 79.93
}

#39mark_pointt+ 399.8s

arguments

{
  "point_id": "cream_recover",
  "view": "agentview",
  "x": 403,
  "y": 318
}

response

{
  "success": true,
  "status": "pending",
  "point_id": "cream_recover",
  "next_views": [
    "pointcloud_top",
    "pointcloud_front",
    "pointcloud_side"
  ]
}

{
  "point_id": "cream_recover",
  "view": "pointcloud_top",
  "x": 225,
  "y": 137
}

{
  "success": true,
  "status": "solved",
  "point_id": "cream_recover",
  "xyz_m": [
    0.10540931992757574,
    0.2364873523697689,
    0.039596990593094517
  ]
}

#41move_tot+ 419.9s

arguments

{
  "xyz_m": [
    0.1054,
    0.2365,
    0.14
  ]
}

response

{
  "success": true,
  "motion": "reached",
  "grip_xyz_m": [
    0.105536,
    0.237682,
    0.142397
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 79.99
}

#42move_tot+ 432.2s

arguments

{
  "xyz_m": [
    0.1054,
    0.2365,
    0.028
  ]
}

response

{
  "success": false,
  "motion": "not_reached",
  "grip_xyz_m": [
    0.108971,
    0.236385,
    0.038875
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "remaining_delta_mm": [
    -3.57116,
    0.11452,
    -10.875043
  ],
  "aperture_mm": 79.99
}

#43move_tot+ 445.4s

arguments

{
  "gripper": "close",
  "preview": true
}

response

{
  "success": true,
  "preview_id": "P-31477bb3629d",
  "motion": "previewed",
  "views": [
    "agentview_candidate_pose_overlay",
    "pointcloud_front",
    "pointcloud_side"
  ]
}

#44move_tot+ 453.8s

arguments

{
  "execute_preview_id": "P-31477bb3629d"
}

response

{
  "success": true,
  "motion": "not_requested",
  "grip_xyz_m": [
    0.109584,
    0.236818,
    0.039467
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 42.05
}

#45move_tot+ 477.9s

arguments

{
  "xyz_m": [
    0.055,
    0.2356,
    0.2
  ]
}

response

{
  "success": true,
  "motion": "reached",
  "grip_xyz_m": [
    0.054122,
    0.234212,
    0.197932
  ],
  "views": [
    "agentview",
    "wrist"
  ],
  "aperture_mm": 42.21
}

#46move_tot+ 487.4s

arguments

{
  "gripper": "open"
}

response

{
  "success": true,
  "motion": "task_completed",
  "grip_xyz_m": [
    0.054235,
    0.233834,
    0.197907
  ],
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{
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