meta/episodes.jsonl

{"episode_index": 0, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 888}
{"episode_index": 1, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 886}
{"episode_index": 2, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 884}
{"episode_index": 3, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 879}
{"episode_index": 4, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 881}
{"episode_index": 5, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 888}
{"episode_index": 6, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 880}
{"episode_index": 7, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 892}
{"episode_index": 8, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 883}
{"episode_index": 9, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 889}
{"episode_index": 10, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 871}
{"episode_index": 11, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 884}
{"episode_index": 12, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 879}
{"episode_index": 13, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 884}
{"episode_index": 14, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 880}
{"episode_index": 15, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 873}
{"episode_index": 16, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 880}
{"episode_index": 17, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 875}
{"episode_index": 18, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 886}
{"episode_index": 19, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 891}
{"episode_index": 20, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 878}
{"episode_index": 21, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 876}
{"episode_index": 22, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 887}
{"episode_index": 23, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 890}
{"episode_index": 24, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 882}
{"episode_index": 25, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 885}
{"episode_index": 26, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 890}
{"episode_index": 27, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 886}
{"episode_index": 28, "tasks": ["Pick a white parcel with the left hand from the black box. Give it to the right hand. The right hand should pick up the white parcel and put it into the white box on the right. Phase 1: Pick from Black Box (Left Arm). 1. Approach Parcel: The left arm moves from the home position to a pre-grasp pose directly above the white parcel in the black box. The right arm can remain at the home position or move to a neutral ready pose in anticipation of the hand-off. 2. Grasp Parcel: The left gripper opens fully. The left arm lowers vertically to make contact with the parcel. The left gripper closes firmly to secure the parcel. 3. Lift Parcel: The left arm lifts the parcel vertically, clearing the walls of the black box. It then moves the parcel towards a central, pre-defined hand-off point in front of the robot. Phase 2: Coordinated Hand-off (Left to Right). 4. Prepare for Transfer: The left arm holds the parcel stationary at the hand-off point, oriented for an easy grasp by the right hand. The right arm moves from its ready position to approach the parcel held by the left arm. The right gripper opens fully in preparation for the grasp. 5. Execute Transfer: The right arm moves in to grasp the parcel. The right gripper closes firmly. For a moment, both grippers are holding the parcel. The left gripper opens, releasing the parcel. The transfer is now complete. Phase 3: Place in White Box (Right Arm). 6. Move to Place Location: The right arm, now holding the parcel, moves away from the hand-off point and towards the white box on the right. The left arm moves back to the home or a neutral ready position. The right arm positions the parcel over the white box in a pre-place pose. 7. Place Parcel: The right arm lowers the parcel into the white box. The right gripper opens fully to release the parcel. 8. Return to Home: The right arm lifts out of the box and returns to the home position. Both arms are now back at the starting home position."], "length": 882}