{
  "episode_id": "ea00b8c4fd599119",
  "task": "Put the marker in the pot",
  "total_frames": 166,
  "total_decisions": 20,
  "cameras": [
    "Exterior camera 1",
    "Exterior camera 2",
    "Wrist camera"
  ],
  "viewer": "https://windjj-embodiedtrace.static.hf.space/",
  "annotation_status": "generated weak labels; hypotheses, not verified contact or completion",
  "image_status": "original recorded JPEG at the current observation source_step",
  "action_status": "targets derived from recorded commands, not separately executed",
  "decisions": [
    {
      "turn": 0,
      "phase_label": "Approach",
      "source_step": 0,
      "images": [
        "/embodiedtrace/assets/example/00000_exterior_image_1_left.jpg",
        "/embodiedtrace/assets/example/00000_exterior_image_2_left.jpg",
        "/embodiedtrace/assets/example/00000_wrist_image_left.jpg"
      ],
      "subgoal": "Approach / align with marker",
      "rationale": "Recorded gripper closure is 0.00 (0 open, 1 closed). Align the end effector for a candidate interaction with marker. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.",
      "action_description": "Request 9.19 cm of EEF translation (+X 4.90 cm, +Y 3.57 cm, \u2212Z 6.90 cm), 7.1\u00b0 orientation change, and gripper closure 0.00.",
      "action": {
        "frame": "robot_base",
        "target_pose": {
          "position_m": [
            0.4323652386665344,
            0.10918452590703964,
            0.48089998960494995
          ],
          "quaternion_xyzw": [
            -0.988317228033569,
            -0.03401043181072327,
            -0.11711564245480445,
            0.09141265553789066
          ]
        },
        "gripper_closure": 0.0,
        "max_steps": 15
      }
    },
    {
      "turn": 8,
      "phase_label": "Close",
      "source_step": 50,
      "images": [
        "/embodiedtrace/assets/example/00050_exterior_image_1_left.jpg",
        "/embodiedtrace/assets/example/00050_exterior_image_2_left.jpg",
        "/embodiedtrace/assets/example/00050_wrist_image_left.jpg"
      ],
      "subgoal": "Attempt grasp: marker",
      "rationale": "Recorded gripper closure is 0.00 (0 open, 1 closed). Attempt to acquire marker; closure alone cannot verify a grasp. Increase closure toward 0.44 while requesting the labeled pose. Object contact and task completion require observation.",
      "action_description": "Request 4.30 cm of EEF translation (+X 2.20 cm, +Y 0.76 cm, \u2212Z 3.61 cm), 4.5\u00b0 orientation change, and gripper closure 0.44.",
      "action": {
        "frame": "robot_base",
        "target_pose": {
          "position_m": [
            0.626327395439148,
            0.14407978951931,
            0.13934628665447235
          ],
          "quaternion_xyzw": [
            0.9942100182700355,
            -0.05081777879893347,
            -0.06693651106060652,
            0.06695891588482866
          ]
        },
        "gripper_closure": 0.43942731618881226,
        "max_steps": 15
      }
    },
    {
      "turn": 12,
      "phase_label": "Move",
      "source_step": 86,
      "images": [
        "/embodiedtrace/assets/example/00086_exterior_image_1_left.jpg",
        "/embodiedtrace/assets/example/00086_exterior_image_2_left.jpg",
        "/embodiedtrace/assets/example/00086_wrist_image_left.jpg"
      ],
      "subgoal": "Reposition candidate interaction: marker",
      "rationale": "Recorded gripper closure is 0.81 (0 open, 1 closed). Reposition the candidate interaction with marker; object attachment is unverified. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.",
      "action_description": "Request 6.26 cm of EEF translation (\u2212X 4.78 cm, \u2212Y 3.94 cm, +Z 0.93 cm), 16.2\u00b0 orientation change, and gripper closure 0.95.",
      "action": {
        "frame": "robot_base",
        "target_pose": {
          "position_m": [
            0.578319787979126,
            0.09842818230390549,
            0.26913294196128845
          ],
          "quaternion_xyzw": [
            0.9745122548414099,
            3.518150756730981e-06,
            0.2217849076216685,
            0.03372417386358773
          ]
        },
        "gripper_closure": 0.9515418410301208,
        "max_steps": 15
      }
    },
    {
      "turn": 16,
      "phase_label": "Open",
      "source_step": 125,
      "images": [
        "/embodiedtrace/assets/example/00125_exterior_image_1_left.jpg",
        "/embodiedtrace/assets/example/00125_exterior_image_2_left.jpg",
        "/embodiedtrace/assets/example/00125_wrist_image_left.jpg"
      ],
      "subgoal": "Open gripper / inspect release: marker",
      "rationale": "Recorded gripper closure is 0.81 (0 open, 1 closed). Open the gripper for release or clearance; verify the result in the next images. Decrease closure toward 0.54 while requesting the labeled pose. Object contact and task completion require observation.",
      "action_description": "Request 1.23 cm of EEF translation (+X 0.02 cm, \u2212Y 0.11 cm, \u2212Z 1.22 cm), 2.7\u00b0 orientation change, and gripper closure 0.54.",
      "action": {
        "frame": "robot_base",
        "target_pose": {
          "position_m": [
            0.5091829299926758,
            0.034188538789749146,
            0.2126181423664093
          ],
          "quaternion_xyzw": [
            0.9760048237704307,
            0.07762614180101858,
            0.18654270060655234,
            0.08118242997319568
          ]
        },
        "gripper_closure": 0.5429515242576599,
        "max_steps": 15
      }
    }
  ]
}