diff --git "a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode43/episode43.debug.jsonl" "b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode43/episode43.debug.jsonl"
new file mode 100644--- /dev/null
+++ "b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode43/episode43.debug.jsonl"
@@ -0,0 +1,299 @@
+{"frame_index": 0, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.30247366428375244, 0.06813990324735641, 1.4700709581375122, -0.04329957813024521, 0.9918874502182007, 0.005202561151236296, 0.11940431594848633], "right_arm_pose": [0.24517719447612762, -0.24186834692955017, 1.4707541465759277, -0.9927893280982971, 5.938516665082716e-07, 0.11987263709306717, 1.7067501175915822e-05], "left_arm_joint_positions": [-9.500963642494753e-07, 0.17559531331062317, -4.258483386365697e-06, -0.8736729025840759, 2.5085082597797737e-06, 1.221362829208374, 0.7853995561599731], "right_arm_joint_positions": [3.103019480477087e-06, 0.17584088444709778, -2.2139876818982884e-05, -0.8734306693077087, -2.0856510673183948e-05, 1.2213776111602783, 0.785417914390564], "pregrasp_goal_pose": [0.38774804507729416, 0.13303830579367298, 1.0409310609148377, 0.15529956660323715, 0.7455623961349974, 0.6336387047648543, 0.13609096188287303], "pregrasp_position_error": 0.4423172775972847, "pregrasp_orientation_error_deg": 82.41373347825214}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774804507729416, 0.13303830579367298, 1.0409310609148377, 0.15529956660323715, 0.7455623961349974, 0.6336387047648543, 0.13609096188287303], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.922942722325368, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01860499382019043, "door_quality": 0.19573639643844448, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.2796234234834921, "step_quality_min": -0.1931184714814424, "step_quality_max": 0.5610611589758695, "alignment_signed_mean": 0.14587369287143584, "alignment_abs_mean": 0.38635630415806105, "alignment_min": -0.608940063852792, "alignment_max": 0.6413464790936553, "door_contact_steps": 8, "path_steps": 64}, {"path_found": true, "path_length": 2.9199359547581145, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.018737316131591797, "door_quality": 0.18302998271832827, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.2614714038833261, "step_quality_min": 0.022580693806077634, "step_quality_max": 0.3964506626261032, "alignment_signed_mean": 0.40588190677920927, "alignment_abs_mean": 0.40588190677920927, "alignment_min": 0.009470001176777099, "alignment_max": 0.5209931157614363, "door_contact_steps": 8, "path_steps": 64}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774804507729414, 0.13303830579367298, 1.0409310609148377, 0.15529956660323715, 0.7455623961349974, 0.6336387047648543, 0.13609096188287303], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.9705720052790126, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.025450468063354492, "door_quality": 0.10363820310845968, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.14805457586922813, "step_quality_min": -0.13643692219044465, "step_quality_max": 0.48564220226093674, "alignment_signed_mean": 0.48794244812247545, "alignment_abs_mean": 0.48794244812247545, "alignment_min": 0.03217402063018783, "alignment_max": 0.7055751425798769, "door_contact_steps": 11, "path_steps": 65}, {"path_found": true, "path_length": 2.970420170851629, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.026188373565673828, "door_quality": 0.157514483477908, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.22502069068272573, "step_quality_min": -0.04009565809239912, "step_quality_max": 0.48216292286335777, "alignment_signed_mean": 0.059695298103641284, "alignment_abs_mean": 0.4874692378158401, "alignment_min": -0.6839876966210743, "alignment_max": 0.5659313648891922, "door_contact_steps": 11, "path_steps": 65}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077480450772942, 0.13303830579367298, 1.0409310609148377, 0.15529956660323715, 0.7455623961349974, 0.6336387047648543, 0.13609096188287303], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.8693012707313703, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01369023323059082, "door_quality": 0.1572117107970286, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.22458815828146944, "step_quality_min": -0.3290617046416012, "step_quality_max": 0.5363381306947498, "alignment_signed_mean": 0.43884401001569345, "alignment_abs_mean": 0.4469774213912763, "alignment_min": -0.025898494116987456, "alignment_max": 0.7217412821179883, "door_contact_steps": 7, "path_steps": 63}, {"path_found": true, "path_length": 2.8694176540119845, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01583075523376465, "door_quality": 0.11122862193897462, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_11", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.15889803134139233, "step_quality_min": -0.3565617039637047, "step_quality_max": 0.514314042442855, "alignment_signed_mean": 0.4762550185311411, "alignment_abs_mean": 0.4762550185311411, "alignment_min": 0.02433576366335659, "alignment_max": 0.6885965341790373, "door_contact_steps": 7, "path_steps": 63}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 1, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3025362193584442, 0.06802984327077866, 1.4698114395141602, -0.043157804757356644, 0.9919003248214722, 0.005488081835210323, 0.11933619529008865], "right_arm_pose": [0.24515768885612488, -0.2419109344482422, 1.4701716899871826, -0.9928886294364929, -0.001204309519380331, 0.11904024332761765, 0.0005417357315309346], "left_arm_joint_positions": [-0.00042700409539975226, 0.1745302975177765, -0.0001518395874882117, -0.8761085867881775, 0.0007818988524377346, 1.222663164138794, 0.7854872941970825], "right_arm_joint_positions": [0.00033474326482973993, 0.1755249798297882, 0.000196013119420968, -0.875217854976654, -0.0010565468110144138, 1.2211287021636963, 0.7829047441482544], "pregrasp_goal_pose": [0.3877480332545899, 0.1330383812722936, 1.0409306986838927, 0.1552969556220075, 0.7455632955070275, 0.633637628862286, 0.13609402359037248], "pregrasp_position_error": 0.4420699640279634, "pregrasp_orientation_error_deg": 82.37813805787418}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877480332545899, 0.1330383812722936, 1.0409306986838927, 0.1552969556220075, 0.7455632955070275, 0.633637628862286, 0.13609402359037248], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.919662110414868, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020438432693481445, "door_quality": 0.09745322704526864, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.13921889577895522, "step_quality_min": -0.29015055777796084, "step_quality_max": 0.4375922254946324, "alignment_signed_mean": -0.05041731819164773, "alignment_abs_mean": 0.4947577177066604, "alignment_min": -0.8242256148984235, "alignment_max": 0.6931238487035648, "door_contact_steps": 8, "path_steps": 64}, {"path_found": true, "path_length": 2.9167489637589097, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01721668243408203, "door_quality": 0.16833614544795591, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.2404802077827942, "step_quality_min": -0.061505602731017794, "step_quality_max": 0.3768228646471497, "alignment_signed_mean": 0.43993902485053155, "alignment_abs_mean": 0.43993902485053155, "alignment_min": 0.0028432146104809437, "alignment_max": 0.5608777638909312, "door_contact_steps": 8, "path_steps": 64}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677480332545899, 0.1330383812722936, 1.0409306986838927, 0.1552969556220075, 0.7455632955070275, 0.633637628862286, 0.13609402359037248], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.967177775468597, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02384018898010254, "door_quality": 0.14400492783608868, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.2057213254801267, "step_quality_min": -0.0351785156248251, "step_quality_max": 0.3348942483603725, "alignment_signed_mean": 0.470359167672483, "alignment_abs_mean": 0.470359167672483, "alignment_min": 0.03291296502627919, "alignment_max": 0.5837217266694225, "door_contact_steps": 11, "path_steps": 65}, {"path_found": true, "path_length": 2.967149354486164, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.025498151779174805, "door_quality": 0.13538506535167313, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.19340723621667594, "step_quality_min": -0.12891268637999995, "step_quality_max": 0.646750638993246, "alignment_signed_mean": 0.4281768190528861, "alignment_abs_mean": 0.4281768190528861, "alignment_min": 0.008111638970403822, "alignment_max": 0.732316121489193, "door_contact_steps": 11, "path_steps": 65}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077480332545899, 0.1330383812722936, 1.0409306986838927, 0.1552969556220075, 0.7455632955070275, 0.633637628862286, 0.13609402359037248], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.8661909889189037, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.015200376510620117, "door_quality": 0.14002575288322042, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_11", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.20003678983317202, "step_quality_min": -0.4410844687931238, "step_quality_max": 0.7193651511926167, "alignment_signed_mean": 0.4706694865192686, "alignment_abs_mean": 0.4706694865192686, "alignment_min": 0.0045324440368822985, "alignment_max": 0.5770230735147319, "door_contact_steps": 7, "path_steps": 63}, {"path_found": true, "path_length": 2.86619463421111, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.018108606338500977, "door_quality": 0.12648554412178462, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.1806936344596923, "step_quality_min": -0.31218056902907027, "step_quality_max": 0.5502263661982619, "alignment_signed_mean": 0.16760816218403904, "alignment_abs_mean": 0.43865589424776136, "alignment_min": -0.8134266063127931, "alignment_max": 0.6976811538746218, "door_contact_steps": 7, "path_steps": 63}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 2, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.3025225102901459, 0.06763051450252533, 1.4692507982254028, -0.042680345475673676, 0.9919155836105347, 0.006486915051937103, 0.11933106929063797], "right_arm_pose": [0.2450827956199646, -0.24203547835350037, 1.4681519269943237, -0.9932153820991516, -0.005167902912944555, 0.11615101993083954, 0.002335309749469161], "left_arm_joint_positions": [-0.0018756353529170156, 0.17020300030708313, -0.0006494191475212574, -0.8846680521965027, 0.0034250072203576565, 1.2270653247833252, 0.785758376121521], "right_arm_joint_positions": [0.0014710462419316173, 0.17476990818977356, 0.000881704967468977, -0.881114661693573, -0.004548425320535898, 1.2201721668243408, 0.774753212928772], "pregrasp_goal_pose": [0.38774840320255666, 0.13303814269812966, 1.0409306740240953, 0.15529986073855762, 0.7455609092536748, 0.6336404541119468, 0.13609062701091496], "pregrasp_position_error": 0.44158774829552916, "pregrasp_orientation_error_deg": 82.25367401143146}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774840320255666, 0.13303814269812966, 1.0409306740240953, 0.15529986073855762, 0.7455609092536748, 0.6336404541119468, 0.13609062701091496], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.9090407391371036, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.018261432647705078, "door_quality": 0.12042070700078064, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.17202958142968663, "step_quality_min": -0.25480550440731387, "step_quality_max": 0.399543057083142, "alignment_signed_mean": 0.453249808804137, "alignment_abs_mean": 0.453249808804137, "alignment_min": 0.00827604830421976, "alignment_max": 0.6849721493812201, "door_contact_steps": 8, "path_steps": 64}, {"path_found": true, "path_length": 2.9060957377313597, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01857471466064453, "door_quality": 0.1416861032409349, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.2024087189156213, "step_quality_min": -0.22309506691752426, "step_quality_max": 0.5365677793292575, "alignment_signed_mean": 0.4621613667358113, "alignment_abs_mean": 0.4621613667358113, "alignment_min": 0.008167445243440308, "alignment_max": 0.6632434272762989, "door_contact_steps": 9, "path_steps": 64}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774840320255664, 0.13303814269812966, 1.0409306740240953, 0.15529986073855762, 0.7455609092536748, 0.6336404541119468, 0.13609062701091496], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.956445337282172, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0023851394653320312, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.31949159346593065, "step_quality_min": -1.1714344013926428, "step_quality_max": 0.9019461323874226, "alignment_signed_mean": -0.2784884501724901, "alignment_abs_mean": 0.8016442154767827, "alignment_min": -0.9807904213027953, "alignment_max": 0.9807904213027953, "door_contact_steps": 15, "path_steps": 65}, {"path_found": true, "path_length": 2.9565061642170893, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0023894309997558594, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.30967818879909953, "step_quality_min": -1.048632900520563, "step_quality_max": 0.9094304990617325, "alignment_signed_mean": -0.27031598394372414, "alignment_abs_mean": 0.805449811336879, "alignment_min": -0.9947715939811876, "alignment_max": 0.9947715939811876, "door_contact_steps": 15, "path_steps": 65}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077484032025567, 0.13303814269812966, 1.0409306740240953, 0.15529986073855762, 0.7455609092536748, 0.6336404541119468, 0.13609062701091496], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.8557558017340767, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01709771156311035, "door_quality": 0.1817180293155759, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.25959718473653703, "step_quality_min": -0.15564506432238032, "step_quality_max": 0.5388931419213223, "alignment_signed_mean": 0.38568647292726765, "alignment_abs_mean": 0.38568647292726765, "alignment_min": 0.016286596249593343, "alignment_max": 0.6565648957146502, "door_contact_steps": 8, "path_steps": 63}, {"path_found": true, "path_length": 2.8554254028377053, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01382303237915039, "door_quality": 0.151788019523057, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.21684002789008144, "step_quality_min": -0.2718296046322438, "step_quality_max": 0.5402721858434089, "alignment_signed_mean": 0.4763692395559355, "alignment_abs_mean": 0.4763692395559355, "alignment_min": 0.07169585816077738, "alignment_max": 0.6672900500948958, "door_contact_steps": 8, "path_steps": 63}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 3, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.30263254046440125, 0.06690073013305664, 1.4679532051086426, -0.04177223891019821, 0.9919635057449341, 0.008386291563510895, 0.11913514137268066], "right_arm_pose": [0.24504899978637695, -0.24226438999176025, 1.4646047353744507, -0.9937207102775574, -0.012468169443309307, 0.11104948073625565, 0.005643703043460846], "left_arm_joint_positions": [-0.004534956067800522, 0.16292718052864075, -0.0015365746803581715, -0.9004513621330261, 0.008304482325911522, 1.2351398468017578, 0.7862385511398315], "right_arm_joint_positions": [0.0035471953451633453, 0.17335155606269836, 0.0021243426017463207, -0.8915757536888123, -0.01096164621412754, 1.218585729598999, 0.7599848508834839], "pregrasp_goal_pose": [0.38774809459992093, 0.13303842939036223, 1.0409293658095298, 0.15529417906780324, 0.7455617726839742, 0.6336393980016541, 0.1360972974018525], "pregrasp_position_error": 0.4404182241331538, "pregrasp_orientation_error_deg": 82.01722957853829}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774809459992093, 0.13303842939036223, 1.0409293658095298, 0.15529417906780324, 0.7455617726839742, 0.6336393980016541, 0.1360972974018525], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.8885269770555793, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02464437484741211, "door_quality": 0.12970700189805273, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.1852957169972182, "step_quality_min": -0.012079727895589809, "step_quality_max": 0.48684562928574127, "alignment_signed_mean": 0.4394621533487841, "alignment_abs_mean": 0.4394621533487841, "alignment_min": 0.040756121806129454, "alignment_max": 0.5881182628546076, "door_contact_steps": 8, "path_steps": 63}, {"path_found": true, "path_length": 2.8855671201858777, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01825404167175293, "door_quality": 0.19979603464691242, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.2854229066384463, "step_quality_min": 0.026533243670108397, "step_quality_max": 0.49599137520932, "alignment_signed_mean": 0.3084613589290493, "alignment_abs_mean": 0.37907487927548744, "alignment_min": -0.26758807710229165, "alignment_max": 0.5423799792693017, "door_contact_steps": 8, "path_steps": 63}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677480945999209, 0.13303842939036223, 1.0409293658095298, 0.15529417906780324, 0.7455617726839742, 0.6336393980016541, 0.1360972974018525], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.9356244331840977, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.004254817962646484, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.21774689706207734, "step_quality_min": -1.2123820488649983, "step_quality_max": 0.8065825470890213, "alignment_signed_mean": -0.169480742272079, "alignment_abs_mean": 0.7794278264811443, "alignment_min": -0.9525139894094217, "alignment_max": 0.9525139894094217, "door_contact_steps": 15, "path_steps": 64}, {"path_found": true, "path_length": 2.9357550663897025, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0028018951416015625, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.2665902328032514, "step_quality_min": -1.2845207575703403, "step_quality_max": 0.8039116139454028, "alignment_signed_mean": -0.1801142907068273, "alignment_abs_mean": 0.7989435879727995, "alignment_min": -0.9921020817525223, "alignment_max": 0.9921020817525223, "door_contact_steps": 15, "path_steps": 64}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774809459992095, 0.13303842939036223, 1.0409293658095298, 0.15529417906780324, 0.7455617726839742, 0.6336393980016541, 0.1360972974018525], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.835315185454502, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.014628171920776367, "door_quality": 0.13046827139766246, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_11", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.1863832448538035, "step_quality_min": -0.43450029453222494, "step_quality_max": 0.6062371928105652, "alignment_signed_mean": 0.49026822429831696, "alignment_abs_mean": 0.49026822429831696, "alignment_min": 0.058444069721649256, "alignment_max": 0.6421765847765308, "door_contact_steps": 7, "path_steps": 62}, {"path_found": true, "path_length": 2.8352903076125124, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.015924453735351562, "door_quality": 0.10390671162159243, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_11", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.14843815945941777, "step_quality_min": -0.5226000840936387, "step_quality_max": 0.6769627411700256, "alignment_signed_mean": 0.49207892616965765, "alignment_abs_mean": 0.49207892616965765, "alignment_min": 0.015066014472483303, "alignment_max": 0.6235031258060394, "door_contact_steps": 7, "path_steps": 62}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 4, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3026716709136963, 0.06579790264368057, 1.4660738706588745, -0.040347661823034286, 0.9920182228088379, 0.011253547854721546, 0.11893459409475327], "right_arm_pose": [0.24506010115146637, -0.2425841987133026, 1.4593037366867065, -0.9943138360977173, -0.02337745949625969, 0.10336298495531082, 0.010469443164765835], "left_arm_joint_positions": [-0.008481737226247787, 0.15157297253608704, -0.002886023838073015, -0.9238812327384949, 0.015516644343733788, 1.2471868991851807, 0.7869733572006226], "right_arm_joint_positions": [0.006617788225412369, 0.17086198925971985, 0.0039065214805305, -0.9072403311729431, -0.02044927515089512, 1.2164247035980225, 0.7381736040115356], "pregrasp_goal_pose": [0.3877473286883706, 0.13303848071920013, 1.04093038840859, 0.15530051010666443, 0.7455582694838474, 0.6336435607676071, 0.13608988302812386], "pregrasp_position_error": 0.43875522035141806, "pregrasp_orientation_error_deg": 81.65911931270738}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877473286883706, 0.13303848071920013, 1.04093038840859, 0.15530051010666443, 0.7455582694838474, 0.6336435607676071, 0.13608988302812386], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.858607897875962, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01708817481994629, "door_quality": 0.1918301954673902, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.274043136381986, "step_quality_min": -0.2801968532376389, "step_quality_max": 0.5673109912543286, "alignment_signed_mean": 0.08318094783742061, "alignment_abs_mean": 0.3978887345262691, "alignment_min": -0.7323661173444592, "alignment_max": 0.7082997509352333, "door_contact_steps": 9, "path_steps": 63}, {"path_found": true, "path_length": 2.855573071324384, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01951003074645996, "door_quality": 0.15080578956476098, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.21543684223537285, "step_quality_min": -0.17036205529674853, "step_quality_max": 0.5391629485292372, "alignment_signed_mean": 0.47246881054950735, "alignment_abs_mean": 0.47246881054950735, "alignment_min": 0.00914042058114544, "alignment_max": 0.6704249008773016, "door_contact_steps": 9, "path_steps": 63}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774732868837057, 0.13303848071920013, 1.04093038840859, 0.15530051010666443, 0.7455582694838474, 0.6336435607676071, 0.13608988302812386], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.90537149503694, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.003152608871459961, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.18725453594452116, "step_quality_min": -0.8482595847926179, "step_quality_max": 0.8778508071597555, "alignment_signed_mean": -0.23206676506979576, "alignment_abs_mean": 0.7191845678117824, "alignment_min": -0.9817721314726451, "alignment_max": 0.9817721314726451, "door_contact_steps": 15, "path_steps": 64}, {"path_found": true, "path_length": 2.905568812562407, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0027153491973876953, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.22430259734981392, "step_quality_min": -0.8707966617970393, "step_quality_max": 0.8763247995968539, "alignment_signed_mean": -0.24910214451891452, "alignment_abs_mean": 0.7416475579602596, "alignment_min": -0.9932322658763192, "alignment_max": 0.9932322658763192, "door_contact_steps": 15, "path_steps": 64}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077473286883706, 0.13303848071920013, 1.04093038840859, 0.15530051010666443, 0.7455582694838474, 0.6336435607676071, 0.13608988302812386], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.8057704824945002, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.015972614288330078, "door_quality": 0.12353045000911561, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_11", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.17647207144159374, "step_quality_min": -0.3342561580059918, "step_quality_max": 0.39642662803926143, "alignment_signed_mean": 0.47868061218683605, "alignment_abs_mean": 0.47868061218683605, "alignment_min": 0.017523212555413822, "alignment_max": 0.6962364440202988, "door_contact_steps": 7, "path_steps": 62}, {"path_found": true, "path_length": 2.8059987268015174, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.016407489776611328, "door_quality": 0.1495538955117887, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_11", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.21364842215969812, "step_quality_min": -0.09475782094125768, "step_quality_max": 0.4516939823443142, "alignment_signed_mean": 0.47767680851670175, "alignment_abs_mean": 0.47767680851670175, "alignment_min": 0.04323563993295005, "alignment_max": 0.5793143072601435, "door_contact_steps": 8, "path_steps": 62}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 5, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.30269575119018555, 0.0642215684056282, 1.4633914232254028, -0.03830057010054588, 0.9920742511749268, 0.015264894813299179, 0.1186961978673935], "right_arm_pose": [0.24520139396190643, -0.2430824637413025, 1.452241063117981, -0.9947988390922546, -0.03810606524348259, 0.09296717494726181, 0.01674077846109867], "left_arm_joint_positions": [-0.013698574155569077, 0.13665226101875305, -0.004980531055480242, -0.9548158049583435, 0.025512820109725, 1.263092041015625, 0.7878206968307495], "right_arm_joint_positions": [0.010722402483224869, 0.16756632924079895, 0.006406578700989485, -0.9283294081687927, -0.03305875509977341, 1.2134859561920166, 0.7091356515884399], "pregrasp_goal_pose": [0.38774833312616874, 0.13303820430166405, 1.040930208003441, 0.15529735000596637, 0.745561024066343, 0.6336403008652888, 0.1360935766067477], "pregrasp_position_error": 0.4363979255643196, "pregrasp_orientation_error_deg": 81.15441318338196}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774833312616874, 0.13303820430166405, 1.040930208003441, 0.15529735000596637, 0.745561024066343, 0.6336403008652888, 0.1360935766067477], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.818984001011432, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.011211395263671875, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.17403378327987803, "step_quality_min": -1.4461379116351878, "step_quality_max": 0.8291515568286592, "alignment_signed_mean": -0.41737545345798316, "alignment_abs_mean": 0.7704773468144953, "alignment_min": -0.9994275223986812, "alignment_max": 0.9994275223986812, "door_contact_steps": 14, "path_steps": 62}, {"path_found": true, "path_length": 2.816100516093604, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.010576725006103516, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.09358727601425743, "step_quality_min": -1.549844412591571, "step_quality_max": 0.6596831258731819, "alignment_signed_mean": -0.3399625349666402, "alignment_abs_mean": 0.7313515398930633, "alignment_min": -0.9974067999810823, "alignment_max": 0.9974067999810823, "door_contact_steps": 14, "path_steps": 62}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677483331261687, 0.13303820430166405, 1.040930208003441, 0.15529735000596637, 0.745561024066343, 0.6336403008652888, 0.1360935766067477], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.865418390892012, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0034627914428710938, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.2385600427646838, "step_quality_min": -0.8697457052724575, "step_quality_max": 0.8137510136321371, "alignment_signed_mean": -0.14560524896625388, "alignment_abs_mean": 0.7511454366682437, "alignment_min": -0.9751252239898484, "alignment_max": 0.9751252239898484, "door_contact_steps": 15, "path_steps": 63}, {"path_found": true, "path_length": 2.86528857289581, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.003473043441772461, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.20526913722916731, "step_quality_min": -1.4879312222081997, "step_quality_max": 0.7602162413744431, "alignment_signed_mean": -0.2526740081915841, "alignment_abs_mean": 0.7462176175569558, "alignment_min": -0.9963460674814808, "alignment_max": 0.9963460674814808, "door_contact_steps": 15, "path_steps": 63}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774833312616876, 0.13303820430166405, 1.040930208003441, 0.15529735000596637, 0.745561024066343, 0.6336403008652888, 0.1360935766067477], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.766696810676685, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.017327070236206055, "door_quality": 0.15105355231183287, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.21579078901690413, "step_quality_min": -0.1453293021565099, "step_quality_max": 0.5248480650180847, "alignment_signed_mean": 0.4685245698263353, "alignment_abs_mean": 0.4685245698263353, "alignment_min": 0.04358065575044234, "alignment_max": 0.661371069090058, "door_contact_steps": 8, "path_steps": 61}, {"path_found": true, "path_length": 2.7666118323749607, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01440739631652832, "door_quality": 0.17176147056630783, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_11", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.24537352938043977, "step_quality_min": 0.12029416811464744, "step_quality_max": 0.3104762279676324, "alignment_signed_mean": 0.46202328296651984, "alignment_abs_mean": 0.46202328296651984, "alignment_min": 0.03627972626883801, "alignment_max": 0.5336929321971452, "door_contact_steps": 7, "path_steps": 61}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 6, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.30272597074508667, 0.06223931536078453, 1.4599813222885132, -0.03565194830298424, 0.9921308755874634, 0.020229455083608627, 0.11830463260412216], "right_arm_pose": [0.2455732375383377, -0.24362772703170776, 1.4439301490783691, -0.994898796081543, -0.05594737082719803, 0.08045569807291031, 0.023940283805131912], "left_arm_joint_positions": [-0.019824262708425522, 0.1196770966053009, -0.00774976285174489, -0.9913281798362732, 0.037548430263996124, 1.2818212509155273, 0.7887049913406372], "right_arm_joint_positions": [0.015546087175607681, 0.16353824734687805, 0.009236369282007217, -0.9527372717857361, -0.04781710356473923, 1.2098777294158936, 0.6744757890701294], "pregrasp_goal_pose": [0.38774809788917286, 0.13303847621135204, 1.0409297963596995, 0.1552973893331311, 0.74556009154995, 0.6336413969282936, 0.13609353714671613], "pregrasp_position_error": 0.43341142655047393, "pregrasp_orientation_error_deg": 80.52787642808737}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774809788917286, 0.13303847621135204, 1.0409297963596995, 0.1552973893331311, 0.74556009154995, 0.6336413969282936, 0.13609353714671613], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.772363122664953, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01590752601623535, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.1557095524099067, "step_quality_min": -1.5218863145871062, "step_quality_max": 0.7814754490275244, "alignment_signed_mean": -0.34487390785798244, "alignment_abs_mean": 0.7147543142109252, "alignment_min": -0.9945777279623134, "alignment_max": 0.9945777279623134, "door_contact_steps": 13, "path_steps": 61}, {"path_found": true, "path_length": 2.7694484318588777, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01059579849243164, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.19725492432938785, "step_quality_min": -1.5213895443091752, "step_quality_max": 0.7808415320888809, "alignment_signed_mean": -0.3716565203386686, "alignment_abs_mean": 0.743325544924419, "alignment_min": -0.9974901923388796, "alignment_max": 0.9974901923388796, "door_contact_steps": 13, "path_steps": 61}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774809788917284, 0.13303847621135204, 1.0409297963596995, 0.1552973893331311, 0.74556009154995, 0.6336413969282936, 0.13609353714671613], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.818158684751543, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.002719402313232422, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.32437611390028437, "step_quality_min": -1.466333111651065, "step_quality_max": 0.8970204485991009, "alignment_signed_mean": -0.23445741804560327, "alignment_abs_mean": 0.81953910197183, "alignment_min": -0.9620967245339179, "alignment_max": 0.9620967245339179, "door_contact_steps": 15, "path_steps": 62}, {"path_found": true, "path_length": 2.818051009842581, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0028400421142578125, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.23856901000269318, "step_quality_min": -1.4592921930640173, "step_quality_max": 0.8919408456930927, "alignment_signed_mean": -0.2353557616350935, "alignment_abs_mean": 0.7683853533549624, "alignment_min": -0.9777322208156288, "alignment_max": 0.9777322208156288, "door_contact_steps": 15, "path_steps": 62}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077480978891729, 0.13303847621135204, 1.0409297963596995, 0.1552973893331311, 0.74556009154995, 0.6336413969282936, 0.13609353714671613], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.7207731509969206, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.014780044555664062, "door_quality": 0.1226720610551714, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_11", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.17524580150738772, "step_quality_min": -0.22500600851871305, "step_quality_max": 0.41436727265078255, "alignment_signed_mean": 0.49405824950547156, "alignment_abs_mean": 0.49405824950547156, "alignment_min": 0.07464491957494923, "alignment_max": 0.6509318442432307, "door_contact_steps": 7, "path_steps": 60}, {"path_found": true, "path_length": 2.720731418605658, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.016208171844482422, "door_quality": 0.11926841690288573, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_11", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.17038345271840818, "step_quality_min": -0.5080269443651162, "step_quality_max": 0.6451506494081047, "alignment_signed_mean": 0.4834675277797288, "alignment_abs_mean": 0.4834675277797288, "alignment_min": 0.025917868051921904, "alignment_max": 0.6625556701112625, "door_contact_steps": 7, "path_steps": 60}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 7, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.30285170674324036, 0.05989982187747955, 1.4560282230377197, -0.03268677741289139, 0.9921484589576721, 0.02613733522593975, 0.11785571277141571], "right_arm_pose": [0.24620996415615082, -0.24423302710056305, 1.4350545406341553, -0.9944280982017517, -0.07539939880371094, 0.06670104712247849, 0.03128346428275108], "left_arm_joint_positions": [-0.026634927839040756, 0.10230973362922668, -0.011341776698827744, -1.0289478302001953, 0.05171430855989456, 1.301668643951416, 0.7890318632125854], "right_arm_joint_positions": [0.020565513521432877, 0.15964964032173157, 0.012254748493432999, -0.978942334651947, -0.06343447417020798, 1.205603837966919, 0.6371937990188599], "pregrasp_goal_pose": [0.38774807571972403, 0.13303845801927028, 1.0409321416300592, 0.15530084631484956, 0.7455632620424892, 0.6336376965919357, 0.13608945177389759], "pregrasp_position_error": 0.42995512598650065, "pregrasp_orientation_error_deg": 79.78776564594544}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774807571972403, 0.13303845801927028, 1.0409321416300592, 0.15530084631484956, 0.7455632620424892, 0.6336376965919357, 0.13608945177389759], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.722218696417024, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.012909650802612305, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.18956976318404792, "step_quality_min": -1.5284187169041046, "step_quality_max": 0.7178600516679189, "alignment_signed_mean": -0.3392512887773181, "alignment_abs_mean": 0.7305691146105571, "alignment_min": -0.9981414556811864, "alignment_max": 0.9981414556811864, "door_contact_steps": 13, "path_steps": 60}, {"path_found": true, "path_length": 2.7193634790917347, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.007259368896484375, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.18748739884372198, "step_quality_min": -1.4575829444615613, "step_quality_max": 0.8125395009394341, "alignment_signed_mean": -0.3471321279744054, "alignment_abs_mean": 0.7120663713351657, "alignment_min": -0.9990099928075659, "alignment_max": 0.9990099928075659, "door_contact_steps": 13, "path_steps": 60}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.367748075719724, 0.13303845801927028, 1.0409321416300592, 0.15530084631484956, 0.7455632620424892, 0.6336376965919357, 0.13608945177389759], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.7672350109718153, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0024530887603759766, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.12008495879039113, "step_quality_min": -0.8090043851483953, "step_quality_max": 0.7564772288707833, "alignment_signed_mean": -0.2180672514422661, "alignment_abs_mean": 0.7568318562831333, "alignment_min": -0.9826617215937447, "alignment_max": 0.9826617215937447, "door_contact_steps": 15, "path_steps": 61}, {"path_found": true, "path_length": 2.767287255215175, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0005750656127929688, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.14324374686188707, "step_quality_min": -0.8313303678883208, "step_quality_max": 0.7583584773092201, "alignment_signed_mean": -0.23073432424376175, "alignment_abs_mean": 0.7765805137898772, "alignment_min": -0.9816561849675105, "alignment_max": 0.9816561849675105, "door_contact_steps": 15, "path_steps": 61}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774807571972405, 0.13303845801927028, 1.0409321416300592, 0.15530084631484956, 0.7455632620424892, 0.6336376965919357, 0.13608945177389759], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.671345203736211, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01105356216430664, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.2889478921185025, "step_quality_min": -1.4522686002932854, "step_quality_max": 0.8162845473936967, "alignment_signed_mean": -0.441877226660587, "alignment_abs_mean": 0.7869379503130529, "alignment_min": -0.9965243017245532, "alignment_max": 0.9913692376247734, "door_contact_steps": 13, "path_steps": 59}, {"path_found": true, "path_length": 2.6711394881106494, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.012103557586669922, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.2500357938802082, "step_quality_min": -1.3783950667025444, "step_quality_max": 0.8450271134147367, "alignment_signed_mean": -0.4580649809743638, "alignment_abs_mean": 0.758025795259756, "alignment_min": -0.9988306990327337, "alignment_max": 0.9988306990327337, "door_contact_steps": 13, "path_steps": 59}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 8, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.30304577946662903, 0.05739377439022064, 1.4516090154647827, -0.02942991629242897, 0.9921204447746277, 0.03268110752105713, 0.11731505393981934], "right_arm_pose": [0.2471509575843811, -0.2448170781135559, 1.4262793064117432, -0.993298351764679, -0.09542041271924973, 0.052680183202028275, 0.03844670578837395], "left_arm_joint_positions": [-0.03367161378264427, 0.08547785878181458, -0.015509571880102158, -1.067157506942749, 0.06703174859285355, 1.3218166828155518, 0.7889541387557983], "right_arm_joint_positions": [0.025693658739328384, 0.15564754605293274, 0.015291009098291397, -1.0048797130584717, -0.07928501814603806, 1.2013771533966064, 0.5991021394729614], "pregrasp_goal_pose": [0.3877475312081866, 0.13303859259127682, 1.0409313800218778, 0.15530201571434446, 0.7455597176979588, 0.6336418699976176, 0.1360881032534565], "pregrasp_position_error": 0.42608995003606315, "pregrasp_orientation_error_deg": 78.9705869390464}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877475312081866, 0.13303859259127682, 1.0409313800218778, 0.15530201571434446, 0.7455597176979588, 0.6336418699976176, 0.1360881032534565], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.6705503844334415, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.00623011589050293, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.20602181185380408, "step_quality_min": -1.5303904839987414, "step_quality_max": 0.7806574113507554, "alignment_signed_mean": -0.32766438044391005, "alignment_abs_mean": 0.7240403230284215, "alignment_min": -0.998606018736246, "alignment_max": 0.998606018736246, "door_contact_steps": 13, "path_steps": 59}, {"path_found": true, "path_length": 2.6675649992654393, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.012063741683959961, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.1844363636640434, "step_quality_min": -1.532084723524273, "step_quality_max": 0.7968484631512571, "alignment_signed_mean": -0.3038810757420516, "alignment_abs_mean": 0.722485902842091, "alignment_min": -0.9994085532483399, "alignment_max": 0.9994085532483399, "door_contact_steps": 13, "path_steps": 59}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677475312081866, 0.13303859259127682, 1.0409313800218778, 0.15530201571434446, 0.7455597176979588, 0.6336418699976176, 0.1360881032534565], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.7150711087339228, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.007917404174804688, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.15350323209266842, "step_quality_min": -1.2302304385625695, "step_quality_max": 0.8337974016255514, "alignment_signed_mean": -0.24044739546044364, "alignment_abs_mean": 0.7314953916593795, "alignment_min": -0.9960439477540053, "alignment_max": 0.9960439477540053, "door_contact_steps": 15, "path_steps": 60}, {"path_found": true, "path_length": 2.7149899804829127, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0013229846954345703, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.13013975901459768, "step_quality_min": -1.155793200839932, "step_quality_max": 0.7512748904873983, "alignment_signed_mean": -0.13974642787461253, "alignment_abs_mean": 0.7511971233533075, "alignment_min": -0.9962489582211195, "alignment_max": 0.9962489582211195, "door_contact_steps": 15, "path_steps": 60}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774753120818663, 0.13303859259127682, 1.0409313800218778, 0.15530201571434446, 0.7455597176979588, 0.6336418699976176, 0.1360881032534565], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.62058520901123, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.010470867156982422, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.2808480412526361, "step_quality_min": -1.3760115200955079, "step_quality_max": 0.8616645308811939, "alignment_signed_mean": -0.40701316946178184, "alignment_abs_mean": 0.7708544163298349, "alignment_min": -0.996448019994485, "alignment_max": 0.996448019994485, "door_contact_steps": 13, "path_steps": 58}, {"path_found": true, "path_length": 2.620426454332111, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.00872349739074707, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.25263699162530134, "step_quality_min": -1.4307402482586158, "step_quality_max": 0.8327502060625467, "alignment_signed_mean": -0.41228389203620486, "alignment_abs_mean": 0.7564451470586034, "alignment_min": -0.9995172117849399, "alignment_max": 0.9995172117849399, "door_contact_steps": 13, "path_steps": 58}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 9, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3031954765319824, 0.05467803776264191, 1.4469114542007446, -0.02593911439180374, 0.9920287132263184, 0.03972828388214111, 0.11673857271671295], "right_arm_pose": [0.24834740161895752, -0.24536541104316711, 1.4175187349319458, -0.9915226101875305, -0.11558370292186737, 0.03834610804915428, 0.04530903697013855], "left_arm_joint_positions": [-0.040785785764455795, 0.06878593564033508, -0.020172085613012314, -1.1055006980895996, 0.08315599709749222, 1.3421220779418945, 0.7885023355484009], "right_arm_joint_positions": [0.030818942934274673, 0.1514005959033966, 0.01828840747475624, -1.0311071872711182, -0.09525620192289352, 1.197150707244873, 0.5608600378036499], "pregrasp_goal_pose": [0.38774774624748803, 0.13303849327870026, 1.0409305670464637, 0.15529634791803673, 0.7455635297143022, 0.6336373492085038, 0.1360947360160984], "pregrasp_position_error": 0.4220307193052477, "pregrasp_orientation_error_deg": 78.08971983385516}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774774624748803, 0.13303849327870026, 1.0409305670464637, 0.15529634791803673, 0.7455635297143022, 0.6336373492085038, 0.1360947360160984], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.618713587797561, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.010556459426879883, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.2356408492102421, "step_quality_min": -1.51752016477404, "step_quality_max": 0.8054440241670398, "alignment_signed_mean": -0.29385041844412696, "alignment_abs_mean": 0.7323183419901741, "alignment_min": -0.9925095517350715, "alignment_max": 0.9925095517350715, "door_contact_steps": 13, "path_steps": 58}, {"path_found": true, "path_length": 2.6157260342817334, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.00605463981628418, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.20141367899196003, "step_quality_min": -1.48693140843266, "step_quality_max": 0.8353193680126286, "alignment_signed_mean": -0.3383424088313062, "alignment_abs_mean": 0.7139195405548288, "alignment_min": -0.9957539675621436, "alignment_max": 0.9957539675621436, "door_contact_steps": 13, "path_steps": 58}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.367747746247488, 0.13303849327870026, 1.0409305670464637, 0.15529634791803673, 0.7455635297143022, 0.6336373492085038, 0.1360947360160984], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.662378324213456, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.029556989669799805, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.23468623446519, "step_quality_min": -0.7204413525173315, "step_quality_max": 0.5400705163988603, "alignment_signed_mean": -0.30902941166349845, "alignment_abs_mean": 0.8405366533267921, "alignment_min": -0.999216025271097, "alignment_max": 0.999216025271097, "door_contact_steps": 16, "path_steps": 59}, {"path_found": true, "path_length": 2.6623830913185884, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02631211280822754, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.2559119528887726, "step_quality_min": -0.9626976917436215, "step_quality_max": 0.6179281788265774, "alignment_signed_mean": -0.4075132285716606, "alignment_abs_mean": 0.8579101718054678, "alignment_min": -0.9984213185113464, "alignment_max": 0.9984213185113464, "door_contact_steps": 16, "path_steps": 59}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774774624748805, 0.13303849327870026, 1.0409305670464637, 0.15529634791803673, 0.7455635297143022, 0.6336373492085038, 0.1360947360160984], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.56934698256891, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01152181625366211, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.30945270894546884, "step_quality_min": -1.518419555555112, "step_quality_max": 0.7540878924036725, "alignment_signed_mean": -0.4139680823999601, "alignment_abs_mean": 0.8032141389233767, "alignment_min": -0.9929355789471583, "alignment_max": 0.9929355789471583, "door_contact_steps": 13, "path_steps": 57}, {"path_found": true, "path_length": 2.569407480810484, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.011391639709472656, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.30188324617970796, "step_quality_min": -1.48820434417597, "step_quality_max": 0.7561238433433146, "alignment_signed_mean": -0.4699605374821351, "alignment_abs_mean": 0.8035996751938072, "alignment_min": -0.992066380938237, "alignment_max": 0.992066380938237, "door_contact_steps": 13, "path_steps": 57}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 10, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.3033083975315094, 0.05176346376538277, 1.4420114755630493, -0.02219916693866253, 0.9918511509895325, 0.047239750623703, 0.11621949821710587], "right_arm_pose": [0.24969562888145447, -0.24590516090393066, 1.4087026119232178, -0.9890839457511902, -0.13590584695339203, 0.023659737780690193, 0.051795464009046555], "left_arm_joint_positions": [-0.04791354760527611, 0.052698880434036255, -0.02527567371726036, -1.1433050632476807, 0.10009229928255081, 1.3625943660736084, 0.787530779838562], "right_arm_joint_positions": [0.03597474470734596, 0.14726045727729797, 0.02133682742714882, -1.0577447414398193, -0.11124049872159958, 1.1928744316101074, 0.5225297212600708], "pregrasp_goal_pose": [0.387747621082257, 0.13303856803519853, 1.040930261235772, 0.15529679348494893, 0.745562858376867, 0.6336381413410691, 0.1360942172909778], "pregrasp_position_error": 0.41785376094294746, "pregrasp_orientation_error_deg": 77.15055441067607}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 8, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.387747621082257, 0.13303856803519853, 1.040930261235772, 0.15529679348494893, 0.745562858376867, 0.6336381413410691, 0.1360942172909778], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.5668446673216243, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0044536590576171875, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.2243198455688822, "step_quality_min": -1.3603502921545745, "step_quality_max": 0.8348882296572715, "alignment_signed_mean": -0.3050610151420705, "alignment_abs_mean": 0.7466448773229831, "alignment_min": -0.998512790231999, "alignment_max": 0.998512790231999, "door_contact_steps": 13, "path_steps": 57}, {"path_found": true, "path_length": 2.5638841042307194, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.009490728378295898, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.17131289823871224, "step_quality_min": -1.4693017900713756, "step_quality_max": 0.8275319855215374, "alignment_signed_mean": -0.36418817386857133, "alignment_abs_mean": 0.7436332491707894, "alignment_min": -0.994624324826092, "alignment_max": 0.994624324826092, "door_contact_steps": 13, "path_steps": 57}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.367747621082257, 0.13303856803519853, 1.040930261235772, 0.15529679348494893, 0.745562858376867, 0.6336381413410691, 0.1360942172909778], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.60950272558477, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.016472339630126953, "door_quality": 0.5201885087538896, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.625466872290364, "step_quality_min": 0.4647488010074381, "step_quality_max": 0.7001255937217185, "alignment_signed_mean": -0.1669304371075515, "alignment_abs_mean": 0.17452399566944238, "alignment_min": -0.3536133847035686, "alignment_max": 0.02109321822747459, "door_contact_steps": 4, "path_steps": 58}, {"path_found": true, "path_length": 2.6095518380441303, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0014324188232421875, "door_quality": 0.3475512869662386, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.48627027550003954, "step_quality_min": 0.26556676664988965, "step_quality_max": 0.6932002708359017, "alignment_signed_mean": -0.21638088544852857, "alignment_abs_mean": 0.22746671595070592, "alignment_min": -0.36833176918194643, "alignment_max": 0.031673801434792474, "door_contact_steps": 4, "path_steps": 58}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774762108225704, 0.13303856803519853, 1.040930261235772, 0.15529679348494893, 0.745562858376867, 0.6336381413410691, 0.1360942172909778], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.518590377486093, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.008811473846435547, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.32320536347463974, "step_quality_min": -1.4790072391487548, "step_quality_max": 0.9622904178927596, "alignment_signed_mean": -0.4546564725424541, "alignment_abs_mean": 0.8155148910222847, "alignment_min": -0.9988477997334615, "alignment_max": 0.9988477997334615, "door_contact_steps": 13, "path_steps": 56}, {"path_found": true, "path_length": 2.5184898739553856, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.010561943054199219, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.29027769238738876, "step_quality_min": -1.4259230968930157, "step_quality_max": 0.8444492149970866, "alignment_signed_mean": -0.3796896680771921, "alignment_abs_mean": 0.7744625403729377, "alignment_min": -0.9994222931861543, "alignment_max": 0.9994222931861543, "door_contact_steps": 13, "path_steps": 56}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 11, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.3034980595111847, 0.048663150519132614, 1.4366518259048462, -0.01817626878619194, 0.991599977016449, 0.05520741641521454, 0.11554732173681259], "right_arm_pose": [0.2512637674808502, -0.24645890295505524, 1.4000391960144043, -0.9859755635261536, -0.15626080334186554, 0.008856477215886116, 0.05793514475226402], "left_arm_joint_positions": [-0.05507373437285423, 0.036855489015579224, -0.03093787655234337, -1.1811912059783936, 0.11771167069673538, 1.3829569816589355, 0.7861365079879761], "right_arm_joint_positions": [0.04116273298859596, 0.14336231350898743, 0.02438739314675331, -1.08418869972229, -0.12724816799163818, 1.1886053085327148, 0.4842153787612915], "pregrasp_goal_pose": [0.3877473268330257, 0.13303857310021608, 1.0409309484927325, 0.15529985652838174, 0.7455617502835453, 0.633639465807019, 0.13609062586451656], "pregrasp_position_error": 0.41329428232170906, "pregrasp_orientation_error_deg": 76.15397747711249}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 32, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 8, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877473268330257, 0.13303857310021608, 1.0409309484927325, 0.15529985652838174, 0.7455617502835453, 0.633639465807019, 0.13609062586451656], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.5146316588910045, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.005139827728271484, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.1961388622831723, "step_quality_min": -1.5542144300418201, "step_quality_max": 0.9468370399277587, "alignment_signed_mean": -0.2877161830100157, "alignment_abs_mean": 0.7389274091390671, "alignment_min": -0.9908450539260367, "alignment_max": 0.9908450539260367, "door_contact_steps": 13, "path_steps": 56}, {"path_found": true, "path_length": 2.5117941787688647, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0064907073974609375, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.2667036069258881, "step_quality_min": -1.5656409289961704, "step_quality_max": 0.9005494126420991, "alignment_signed_mean": -0.2602735923809942, "alignment_abs_mean": 0.7317929328962751, "alignment_min": -0.9885459628606056, "alignment_max": 0.9885459628606056, "door_contact_steps": 13, "path_steps": 56}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677473268330257, 0.13303857310021608, 1.0409309484927325, 0.15529985652838174, 0.7455617502835453, 0.633639465807019, 0.13609062586451656], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.556686969526312, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.013259649276733398, "door_quality": 0.49729633159758285, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.6157115503055941, "step_quality_min": 0.5028213410524246, "step_quality_max": 0.7096897390144686, "alignment_signed_mean": -0.2102286583357655, "alignment_abs_mean": 0.21715126412909683, "alignment_min": -0.29359804259855515, "alignment_max": 0.015287421126940006, "door_contact_steps": 4, "path_steps": 57}, {"path_found": true, "path_length": 2.5567142152836664, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.00800776481628418, "door_quality": 0.44008086571677485, "collision_names": ["oven_base", "oven_door", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.5714886309076486, "step_quality_min": 0.3773798544521171, "step_quality_max": 0.6817092704555108, "alignment_signed_mean": -0.19937129487348965, "alignment_abs_mean": 0.2070486005380161, "alignment_min": -0.2957659722463714, "alignment_max": 0.016634162273140768, "door_contact_steps": 4, "path_steps": 57}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077473268330257, 0.13303857310021608, 1.0409309484927325, 0.15529985652838174, 0.7455617502835453, 0.633639465807019, 0.13609062586451656], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.4673265997098546, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.002930879592895508, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.33656867857364414, "step_quality_min": -1.5310548409534805, "step_quality_max": 0.9349024691800428, "alignment_signed_mean": -0.30758152301079905, "alignment_abs_mean": 0.8003883059793871, "alignment_min": -0.9857198169632002, "alignment_max": 0.9857198169632002, "door_contact_steps": 13, "path_steps": 55}, {"path_found": true, "path_length": 2.467307608782299, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0019085407257080078, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.3327891075834587, "step_quality_min": -1.485855750737777, "step_quality_max": 0.9639109846390801, "alignment_signed_mean": -0.3412599094145232, "alignment_abs_mean": 0.8139108083321044, "alignment_min": -0.9944440428934965, "alignment_max": 0.9944440428934965, "door_contact_steps": 13, "path_steps": 55}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474810600280762, "final_height": 1.0474810600280762, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474810600280762}], "score": 0.0007311503092447911}}
+{"frame_index": 12, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.3037324547767639, 0.04537595063447952, 1.4308797121047974, -0.01392712164670229, 0.99125736951828, 0.06362082064151764, 0.11474930495023727], "right_arm_pose": [0.25302445888519287, -0.2470162808895111, 1.3914031982421875, -0.9821816682815552, -0.17670275270938873, -0.006147708743810654, 0.06369800865650177], "left_arm_joint_positions": [-0.06224798783659935, 0.021891623735427856, -0.03697892650961876, -1.2191216945648193, 0.13604509830474854, 1.4032738208770752, 0.7841860055923462], "right_arm_joint_positions": [0.04634380713105202, 0.13927105069160461, 0.027485404163599014, -1.1103599071502686, -0.14325034618377686, 1.184417486190796, 0.44585978984832764], "pregrasp_goal_pose": [0.38774762904259047, 0.1330386957136834, 1.0409284392518028, 0.15529392367928604, 0.7455603055386634, 0.6336411201396686, 0.13609760814038266], "pregrasp_position_error": 0.4084180475706348, "pregrasp_orientation_error_deg": 75.10237450036297}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 67, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 16, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774762904259047, 0.1330386957136834, 1.0409284392518028, 0.15529392367928604, 0.7455603055386634, 0.6336411201396686, 0.13609760814038266], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.462008058128383, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.002206563949584961, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.1953822467656061, "step_quality_min": -1.510795682222828, "step_quality_max": 0.9916526381547983, "alignment_signed_mean": -0.2836595574808806, "alignment_abs_mean": 0.7317827579498408, "alignment_min": -0.9770079734820106, "alignment_max": 0.9770079734820106, "door_contact_steps": 14, "path_steps": 55}, {"path_found": true, "path_length": 2.459142099742321, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0032074451446533203, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.28165649699415246, "step_quality_min": -1.4865537806358828, "step_quality_max": 0.8400356812838694, "alignment_signed_mean": -0.2578140151331103, "alignment_abs_mean": 0.7351935668252935, "alignment_min": -0.9901818478356869, "alignment_max": 0.9901818478356869, "door_contact_steps": 13, "path_steps": 55}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774762904259045, 0.1330386957136834, 1.0409284392518028, 0.15529392367928604, 0.7455603055386634, 0.6336411201396686, 0.13609760814038266], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.503053260464185, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.028214693069458008, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.22602802045155382, "step_quality_min": -0.8167195121578541, "step_quality_max": 0.32657096645146333, "alignment_signed_mean": -0.36836859020956114, "alignment_abs_mean": 0.8228881579844673, "alignment_min": -0.9925442003312561, "alignment_max": 0.9925442003312561, "door_contact_steps": 18, "path_steps": 56}, {"path_found": true, "path_length": 2.5030847302567434, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.028500080108642578, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.2016178077790182, "step_quality_min": -0.8123567534398469, "step_quality_max": 0.5207535123844632, "alignment_signed_mean": -0.3811118009782563, "alignment_abs_mean": 0.8133767542202496, "alignment_min": -0.9883986351554844, "alignment_max": 0.9883986351554844, "door_contact_steps": 18, "path_steps": 56}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077476290425905, 0.1330386957136834, 1.0409284392518028, 0.15529392367928604, 0.7455603055386634, 0.6336411201396686, 0.13609760814038266], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.415664205229562, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.013116836547851562, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.18534191536857633, "step_quality_min": -0.996020285306046, "step_quality_max": 0.6203910540965215, "alignment_signed_mean": -0.36218149455693915, "alignment_abs_mean": 0.8018968273433217, "alignment_min": -0.9970208824627437, "alignment_max": 0.9970208824627437, "door_contact_steps": 12, "path_steps": 54}, {"path_found": true, "path_length": 2.4156081154783218, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022109270095825195, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.3293136617764675, "step_quality_min": -0.7591921586314541, "step_quality_max": -0.022822509125337842, "alignment_signed_mean": -0.483752555152533, "alignment_abs_mean": 0.8918082551227591, "alignment_min": -0.9771260950882508, "alignment_max": 0.9771260950882508, "door_contact_steps": 12, "path_steps": 54}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 13, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.30389097332954407, 0.0419270284473896, 1.424962043762207, -0.009494387544691563, 0.9907796382904053, 0.07253066450357437, 0.11403965204954147], "right_arm_pose": [0.255033940076828, -0.24749921262264252, 1.3829342126846313, -0.9777231812477112, -0.1970607489347458, -0.021266933530569077, 0.06908106058835983], "left_arm_joint_positions": [-0.06935858726501465, 0.007213383913040161, -0.04348680004477501, -1.2567174434661865, 0.15518248081207275, 1.423553466796875, 0.7815588712692261], "right_arm_joint_positions": [0.051446203142404556, 0.13516810536384583, 0.030503544956445694, -1.1366987228393555, -0.1592799425125122, 1.1800973415374756, 0.4075101613998413], "pregrasp_goal_pose": [0.3877478095786062, 0.13303868966051952, 1.0409300286980734, 0.15529666004342152, 0.7455611989922588, 0.6336400902727884, 0.13609438612843608], "pregrasp_position_error": 0.4035020351732283, "pregrasp_orientation_error_deg": 73.98946552468941}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 83, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 17, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877478095786062, 0.13303868966051952, 1.0409300286980734, 0.15529666004342152, 0.7455611989922588, 0.6336400902727884, 0.13609438612843608], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.409500974869129, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021028757095336914, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.11280130675747883, "step_quality_min": -1.1006897017425175, "step_quality_max": 0.3630229626438548, "alignment_signed_mean": -0.21507786967329717, "alignment_abs_mean": 0.7595899827260308, "alignment_min": -0.956899784742923, "alignment_max": 0.956899784742923, "door_contact_steps": 17, "path_steps": 54}, {"path_found": true, "path_length": 2.4066831413352454, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019852399826049805, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.09915715502222289, "step_quality_min": -1.2014801074600614, "step_quality_max": 0.6249909616291454, "alignment_signed_mean": -0.23939760700933102, "alignment_abs_mean": 0.733783811048408, "alignment_min": -0.9913906327275099, "alignment_max": 0.9913906327275099, "door_contact_steps": 17, "path_steps": 54}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677478095786062, 0.13303868966051952, 1.0409300286980734, 0.15529666004342152, 0.7455611989922588, 0.6336400902727884, 0.13609438612843608], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.449341457528599, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02669978141784668, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.2953580865027805, "step_quality_min": -0.7362466830717155, "step_quality_max": 0.37570006873462686, "alignment_signed_mean": -0.2690299484571267, "alignment_abs_mean": 0.8533901246951529, "alignment_min": -0.9918187268640717, "alignment_max": 0.9918187268640717, "door_contact_steps": 16, "path_steps": 54}, {"path_found": true, "path_length": 2.449625099141208, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.027675867080688477, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.2639820434677027, "step_quality_min": -0.7600711544390482, "step_quality_max": 0.3509719696095981, "alignment_signed_mean": -0.21326053937862263, "alignment_abs_mean": 0.8365150312589767, "alignment_min": -0.9441380329891087, "alignment_max": 0.9323993279490147, "door_contact_steps": 16, "path_steps": 54}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774780957860624, 0.13303868966051952, 1.0409300286980734, 0.15529666004342152, 0.7455611989922588, 0.6336400902727884, 0.13609438612843608], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.36415707289713, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.015128374099731445, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.02184042802363247, "step_quality_min": -0.8007957410578418, "step_quality_max": 0.5964834018676145, "alignment_signed_mean": -0.22451314464391073, "alignment_abs_mean": 0.6800029140199407, "alignment_min": -0.9689265035692727, "alignment_max": 0.8775559784647834, "door_contact_steps": 20, "path_steps": 53}, {"path_found": true, "path_length": 2.3641299110105076, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.016106605529785156, "door_quality": 0.0007824156769983137, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": 0.0011177366814261625, "step_quality_min": -0.8444264268813724, "step_quality_max": 0.6904132064290829, "alignment_signed_mean": -0.2343443546288154, "alignment_abs_mean": 0.6487692338537069, "alignment_min": -0.9205160712080267, "alignment_max": 0.9205160712080267, "door_contact_steps": 20, "path_steps": 53}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 14, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.3040667474269867, 0.038295846432447433, 1.4187188148498535, -0.004806932993233204, 0.9901713728904724, 0.0818772166967392, 0.11328641325235367], "right_arm_pose": [0.25717392563819885, -0.2479732632637024, 1.3744683265686035, -0.9725764393806458, -0.21740564703941345, -0.03667004778981209, 0.07406241446733475], "left_arm_joint_positions": [-0.07649588584899902, -0.006602495908737183, -0.0504436157643795, -1.2937839031219482, 0.1750086545944214, 1.443802833557129, 0.7783306837081909], "right_arm_joint_positions": [0.056638721376657486, 0.13113072514533997, 0.03349164500832558, -1.1632616519927979, -0.1753023862838745, 1.1757457256317139, 0.3691319227218628], "pregrasp_goal_pose": [0.38774787838999825, 0.13303874581422698, 1.0409297128536388, 0.1552960240002454, 0.745561991449932, 0.6336391544253825, 0.13609512781144362], "pregrasp_position_error": 0.3983758956684265, "pregrasp_orientation_error_deg": 72.8208281641006}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 89, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 18, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774787838999825, 0.13303874581422698, 1.0409297128536388, 0.1552960240002454, 0.745561991449932, 0.6336391544253825, 0.13609512781144362], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.3567748959176775, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023913860321044922, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.06090771867257185, "step_quality_min": -1.0296064678080232, "step_quality_max": 0.6714111259770711, "alignment_signed_mean": -0.11812193892803638, "alignment_abs_mean": 0.6906622416842919, "alignment_min": -0.9530765626580774, "alignment_max": 0.9225305118300041, "door_contact_steps": 17, "path_steps": 53}, {"path_found": true, "path_length": 2.353932084243167, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.017061233520507812, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.16655488359915702, "step_quality_min": -1.0468024381260588, "step_quality_max": 0.7327612284652224, "alignment_signed_mean": -0.21773524252705312, "alignment_abs_mean": 0.7329970593986698, "alignment_min": -0.9769404066286029, "alignment_max": 0.9769404066286029, "door_contact_steps": 18, "path_steps": 53}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774787838999823, 0.13303874581422698, 1.0409297128536388, 0.1552960240002454, 0.745561991449932, 0.6336391544253825, 0.13609512781144362], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.3958804697404434, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024501800537109375, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.29131005674533617, "step_quality_min": -0.6155679364247473, "step_quality_max": 0.3411438721462662, "alignment_signed_mean": -0.2236504043100977, "alignment_abs_mean": 0.8563777962748275, "alignment_min": -0.956175593402623, "alignment_max": 0.956175593402623, "door_contact_steps": 16, "path_steps": 53}, {"path_found": true, "path_length": 2.395967002010267, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024274587631225586, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.1999468103698533, "step_quality_min": -0.6911250718136909, "step_quality_max": 0.3564878074021969, "alignment_signed_mean": -0.40006348733605995, "alignment_abs_mean": 0.8314919130323986, "alignment_min": -0.9946630963120783, "alignment_max": 0.9946630963120783, "door_contact_steps": 16, "path_steps": 53}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774787838999826, 0.13303874581422698, 1.0409297128536388, 0.1552960240002454, 0.745561991449932, 0.6336391544253825, 0.13609512781144362], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.312513432131815, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01691460609436035, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.03617619098859313, "step_quality_min": -0.8497715699005266, "step_quality_max": 0.6774942329751787, "alignment_signed_mean": -0.1454959485588921, "alignment_abs_mean": 0.6310549709041617, "alignment_min": -0.93493641530994, "alignment_max": 0.93493641530994, "door_contact_steps": 18, "path_steps": 52}, {"path_found": true, "path_length": 2.3127155481079424, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01700305938720703, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.03903900252574495, "step_quality_min": -0.8818342193039672, "step_quality_max": 0.6310657791512567, "alignment_signed_mean": -0.1539777098836625, "alignment_abs_mean": 0.6646115442723504, "alignment_min": -0.9264468264792077, "alignment_max": 0.9264468264792077, "door_contact_steps": 18, "path_steps": 52}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 15, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.304258793592453, 0.03448496758937836, 1.4120911359786987, 0.00012314114428590983, 0.9894245862960815, 0.09169463068246841, 0.11238868534564972], "right_arm_pose": [0.259580135345459, -0.24843062460422516, 1.3662550449371338, -0.9667378664016724, -0.23773908615112305, -0.052018504589796066, 0.07869039475917816], "left_arm_joint_positions": [-0.08360481262207031, -0.01984688639640808, -0.0577983520925045, -1.3309762477874756, 0.19560253620147705, 1.4638478755950928, 0.7745295763015747], "right_arm_joint_positions": [0.06180644407868385, 0.12692812085151672, 0.03667024150490761, -1.1892859935760498, -0.1912904977798462, 1.1715691089630127, 0.3307377099990845], "pregrasp_goal_pose": [0.387747402628036, 0.13303862350383358, 1.0409293262506003, 0.15529259251181213, 0.7455636744701207, 0.633637151640567, 0.1360991479855807], "pregrasp_position_error": 0.392993969334694, "pregrasp_orientation_error_deg": 71.59384809448014}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 28, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.387747402628036, 0.13303862350383358, 1.0409293262506003, 0.15529259251181213, 0.7455636744701207, 0.633637151640567, 0.1360991479855807], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.3039022847333794, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02265620231628418, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.1759749083821226, "step_quality_min": -0.8652049570906608, "step_quality_max": 0.42375437465266536, "alignment_signed_mean": -0.19765161371899226, "alignment_abs_mean": 0.7913341576095094, "alignment_min": -0.9624574509727616, "alignment_max": 0.9624574509727616, "door_contact_steps": 18, "path_steps": 52}, {"path_found": true, "path_length": 2.3011440012654623, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020888805389404297, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.06738820827513499, "step_quality_min": -0.8388918526689548, "step_quality_max": 0.6720998215464535, "alignment_signed_mean": -0.21976415282230374, "alignment_abs_mean": 0.7029030766150954, "alignment_min": -0.9925009092790619, "alignment_max": 0.9925009092790619, "door_contact_steps": 18, "path_steps": 52}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774740262803596, 0.13303862350383358, 1.0409293262506003, 0.15529259251181213, 0.7455636744701207, 0.633637151640567, 0.1360991479855807], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.3420773967994997, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.025437593460083008, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.22111377317229758, "step_quality_min": -0.6767339937024731, "step_quality_max": 0.5230555794326375, "alignment_signed_mean": -0.30096177731770457, "alignment_abs_mean": 0.8288392295210986, "alignment_min": -0.9907105376563186, "alignment_max": 0.9907105376563186, "door_contact_steps": 16, "path_steps": 52}, {"path_found": true, "path_length": 2.3420703719192786, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.028966903686523438, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.2585052093895696, "step_quality_min": -0.686667070047237, "step_quality_max": 0.2969773788180835, "alignment_signed_mean": -0.39550933654456355, "alignment_abs_mean": 0.8524492464694301, "alignment_min": -0.9990532361965103, "alignment_max": 0.9990532361965103, "door_contact_steps": 16, "path_steps": 52}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.407747402628036, 0.13303862350383358, 1.0409293262506003, 0.15529259251181213, 0.7455636744701207, 0.633637151640567, 0.1360991479855807], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.2608701201568517, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021550416946411133, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.007825778673798849, "step_quality_min": -1.0755642494177877, "step_quality_max": 0.6416612483151709, "alignment_signed_mean": -0.12747051591649936, "alignment_abs_mean": 0.6349493355880521, "alignment_min": -0.9600619610905218, "alignment_max": 0.9600619610905218, "door_contact_steps": 18, "path_steps": 51}, {"path_found": true, "path_length": 2.2609959214019733, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022726774215698242, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.040355243955379025, "step_quality_min": -1.0493543970698636, "step_quality_max": 0.6957550360607766, "alignment_signed_mean": -0.10759307501426811, "alignment_abs_mean": 0.6239399136229863, "alignment_min": -0.9832019390019289, "alignment_max": 0.9832019390019289, "door_contact_steps": 18, "path_steps": 51}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 16, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.30444949865341187, 0.030444078147411346, 1.4051493406295776, 0.005326562561094761, 0.988502025604248, 0.10199073702096939, 0.1115046888589859], "right_arm_pose": [0.26210448145866394, -0.24883043766021729, 1.358043909072876, -0.9602202773094177, -0.25794199109077454, -0.06761015951633453, 0.08289766311645508], "left_arm_joint_positions": [-0.09075212478637695, -0.03256604075431824, -0.06555578112602234, -1.367605209350586, 0.2169433832168579, 1.4837052822113037, 0.7699369192123413], "right_arm_joint_positions": [0.06694555282592773, 0.1227588951587677, 0.0396747924387455, -1.2158164978027344, -0.2073603868484497, 1.1672987937927246, 0.2924298048019409], "pregrasp_goal_pose": [0.3877477455960411, 0.13303876120259217, 1.0409282365609995, 0.15529426817911798, 0.7455593274645783, 0.6336422719669935, 0.13609721039677702], "pregrasp_position_error": 0.3874548742548508, "pregrasp_orientation_error_deg": 70.30645328642888}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 29, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877477455960411, 0.13303876120259217, 1.0409282365609995, 0.15529426817911798, 0.7455593274645783, 0.6336422719669935, 0.13609721039677702], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.250663804088598, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022369861602783203, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.12177279964303424, "step_quality_min": -0.9563118346888743, "step_quality_max": 0.5590839881048087, "alignment_signed_mean": -0.2244517605511928, "alignment_abs_mean": 0.7679010478685677, "alignment_min": -0.9835044576505396, "alignment_max": 0.9835044576505396, "door_contact_steps": 17, "path_steps": 51}, {"path_found": true, "path_length": 2.2478010326409175, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02309393882751465, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.22732596145446082, "step_quality_min": -0.8938228613936791, "step_quality_max": 0.4211288723450272, "alignment_signed_mean": -0.18393481214365676, "alignment_abs_mean": 0.8252155787765506, "alignment_min": -0.9644158661957453, "alignment_max": 0.9644158661957453, "door_contact_steps": 16, "path_steps": 50}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774774559604106, 0.13303876120259217, 1.0409282365609995, 0.15529426817911798, 0.7455593274645783, 0.6336422719669935, 0.13609721039677702], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.2878154751336406, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02684187889099121, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.24273448547045773, "step_quality_min": -0.6972858426827896, "step_quality_max": 0.3042461089036709, "alignment_signed_mean": -0.32840972095767745, "alignment_abs_mean": 0.8493205412714603, "alignment_min": -0.9964415734151207, "alignment_max": 0.9964415734151207, "door_contact_steps": 15, "path_steps": 51}, {"path_found": true, "path_length": 2.287829148695704, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02605152130126953, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.23302847406101074, "step_quality_min": -0.7061272707168789, "step_quality_max": 0.4392673621265124, "alignment_signed_mean": -0.2463223605756742, "alignment_abs_mean": 0.8460287424444493, "alignment_min": -0.9711748837791966, "alignment_max": 0.9711748837791966, "door_contact_steps": 15, "path_steps": 51}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077477455960411, 0.13303876120259217, 1.0409282365609995, 0.15529426817911798, 0.7455593274645783, 0.6336422719669935, 0.13609721039677702], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.2090681202389058, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019973278045654297, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.020398505676415848, "step_quality_min": -1.0908658793417971, "step_quality_max": 0.6398005909158702, "alignment_signed_mean": -0.1446973555402268, "alignment_abs_mean": 0.6582864466172264, "alignment_min": -0.929718927231535, "alignment_max": 0.929718927231535, "door_contact_steps": 18, "path_steps": 50}, {"path_found": true, "path_length": 2.208936721880809, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019641876220703125, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.034790501054336974, "step_quality_min": -1.1145710880626116, "step_quality_max": 0.7275515893189455, "alignment_signed_mean": -0.17315544578731282, "alignment_abs_mean": 0.6589704121724399, "alignment_min": -0.9681289484430652, "alignment_max": 0.9681289484430652, "door_contact_steps": 18, "path_steps": 50}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 17, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.304673969745636, 0.026211876422166824, 1.3978748321533203, 0.010773408226668835, 0.9874001145362854, 0.11275815218687057, 0.11050200462341309], "right_arm_pose": [0.26484695076942444, -0.24920114874839783, 1.3499999046325684, -0.9530139565467834, -0.2780470550060272, -0.08327586203813553, 0.08671484142541885], "left_arm_joint_positions": [-0.09795498847961426, -0.04410621523857117, -0.0738196074962616, -1.4042599201202393, 0.23910343647003174, 1.5033679008483887, 0.7646440267562866], "right_arm_joint_positions": [0.07210397720336914, 0.1186547577381134, 0.04275539889931679, -1.2423202991485596, -0.2233666181564331, 1.16300368309021, 0.25402939319610596], "pregrasp_goal_pose": [0.3877470477396875, 0.13303899159196722, 1.0409305906510506, 0.15530261159076678, 0.7455585052961327, 0.6336432989986359, 0.1360874117903979], "pregrasp_position_error": 0.38173598253837454, "pregrasp_orientation_error_deg": 68.959967720627}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 39, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877470477396875, 0.13303899159196722, 1.0409305906510506, 0.15530261159076678, 0.7455585052961327, 0.6336432989986359, 0.1360874117903979], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.19721947434187, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024146080017089844, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.20872286290284106, "step_quality_min": -0.8589221099538814, "step_quality_max": 0.4910959012963726, "alignment_signed_mean": -0.24777643521259257, "alignment_abs_mean": 0.8065132501270855, "alignment_min": -0.981811744372468, "alignment_max": 0.981811744372468, "door_contact_steps": 16, "path_steps": 49}, {"path_found": true, "path_length": 2.1943557003429404, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02428412437438965, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.1953300576456254, "step_quality_min": -0.8606740315973664, "step_quality_max": 0.5428569425785871, "alignment_signed_mean": -0.2225565460926848, "alignment_abs_mean": 0.7989250215356127, "alignment_min": -0.9846799977166246, "alignment_max": 0.9846799977166246, "door_contact_steps": 17, "path_steps": 49}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774704773968747, 0.13303899159196722, 1.0409305906510506, 0.15530261159076678, 0.7455585052961327, 0.6336432989986359, 0.1360874117903979], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.233110116631853, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02790975570678711, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.29018092349928737, "step_quality_min": -0.7398878587556029, "step_quality_max": 0.26428792594713946, "alignment_signed_mean": -0.3129818622318044, "alignment_abs_mean": 0.8662121437570003, "alignment_min": -0.9886944567642716, "alignment_max": 0.9886944567642716, "door_contact_steps": 15, "path_steps": 50}, {"path_found": true, "path_length": 2.2331688334793305, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02728271484375, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.3037189699541409, "step_quality_min": -0.9764425937094541, "step_quality_max": 0.41821244056033147, "alignment_signed_mean": -0.25605064879889783, "alignment_abs_mean": 0.8625339831136903, "alignment_min": -0.962119295563173, "alignment_max": 0.962119295563173, "door_contact_steps": 15, "path_steps": 50}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077470477396875, 0.13303899159196722, 1.0409305906510506, 0.15530261159076678, 0.7455585052961327, 0.6336432989986359, 0.1360874117903979], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.15681603292657, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.018002033233642578, "door_quality": 0.008288806922368951, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.011841152746241361, "step_quality_min": -1.1416422403041677, "step_quality_max": 0.6425159638078595, "alignment_signed_mean": -0.16079712586020387, "alignment_abs_mean": 0.6571016181407413, "alignment_min": -0.9233006816247848, "alignment_max": 0.9233006816247848, "door_contact_steps": 18, "path_steps": 49}, {"path_found": true, "path_length": 2.15679859171882, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020470619201660156, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.008899795117565137, "step_quality_min": -1.0348574881324102, "step_quality_max": 0.6491202781129147, "alignment_signed_mean": -0.14989659400497996, "alignment_abs_mean": 0.6629945859031854, "alignment_min": -0.9024624177559935, "alignment_max": 0.9058633576724405, "door_contact_steps": 18, "path_steps": 49}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 18, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.30490922927856445, 0.021834613755345345, 1.3902850151062012, 0.016442518681287766, 0.9860833883285522, 0.1240239217877388, 0.10948687791824341], "right_arm_pose": [0.26774463057518005, -0.24955898523330688, 1.3420836925506592, -0.9451227784156799, -0.298020601272583, -0.09902714192867279, 0.09011220186948776], "left_arm_joint_positions": [-0.10506701469421387, -0.054970234632492065, -0.08242008090019226, -1.4402709007263184, 0.262149453163147, 1.522801160812378, 0.7584484815597534], "right_arm_joint_positions": [0.07727980613708496, 0.11450055241584778, 0.045793566852808, -1.2685492038726807, -0.239313006401062, 1.1586823463439941, 0.21568787097930908], "pregrasp_goal_pose": [0.38774733671459966, 0.13303892135952447, 1.0409325721087583, 0.1552980422327129, 0.7455678697097902, 0.6336322617054392, 0.136092713475563], "pregrasp_position_error": 0.37586657140744845, "pregrasp_orientation_error_deg": 67.5491056377122}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 54, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774733671459966, 0.13303892135952447, 1.0409325721087583, 0.1552980422327129, 0.7455678697097902, 0.6336322617054392, 0.136092713475563], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.143558396941371, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024277448654174805, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.11088038385593686, "step_quality_min": -0.9660978167393567, "step_quality_max": 0.5559024890588181, "alignment_signed_mean": -0.20511300915922834, "alignment_abs_mean": 0.7814441054543455, "alignment_min": -0.9909647115273996, "alignment_max": 0.9909647115273996, "door_contact_steps": 17, "path_steps": 48}, {"path_found": true, "path_length": 2.1409322940556477, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.025118350982666016, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.18432578608644082, "step_quality_min": -0.9173939158829034, "step_quality_max": 0.6430547229267423, "alignment_signed_mean": -0.2089687953022973, "alignment_abs_mean": 0.8015015406338715, "alignment_min": -0.9838831754759918, "alignment_max": 0.9838831754759918, "door_contact_steps": 16, "path_steps": 48}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774733671459964, 0.13303892135952447, 1.0409325721087583, 0.1552980422327129, 0.7455678697097902, 0.6336322617054392, 0.136092713475563], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.178416935541488, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02565312385559082, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.33299870202782944, "step_quality_min": -0.7603243276947729, "step_quality_max": 0.37595227728667346, "alignment_signed_mean": -0.3392395978582137, "alignment_abs_mean": 0.9017379777114314, "alignment_min": -0.999499272109297, "alignment_max": 0.999499272109297, "door_contact_steps": 14, "path_steps": 49}, {"path_found": true, "path_length": 2.1783441872477063, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02602386474609375, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.3227061047958945, "step_quality_min": -0.7036104073192011, "step_quality_max": 0.4372899638811753, "alignment_signed_mean": -0.4514072229810789, "alignment_abs_mean": 0.9062366162584493, "alignment_min": -0.9945753565672435, "alignment_max": 0.9945753565672435, "door_contact_steps": 14, "path_steps": 49}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077473367145997, 0.13303892135952447, 1.0409325721087583, 0.1552980422327129, 0.7455678697097902, 0.6336322617054392, 0.136092713475563], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.1044290995193915, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.018288612365722656, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.03878763206642556, "step_quality_min": -0.964428346880946, "step_quality_max": 0.6168842444592932, "alignment_signed_mean": -0.16558576099435132, "alignment_abs_mean": 0.7039348326735568, "alignment_min": -0.9829270344535285, "alignment_max": 0.9829270344535285, "door_contact_steps": 19, "path_steps": 48}, {"path_found": true, "path_length": 2.1044224108560794, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.018659114837646484, "door_quality": 0.007674482487014388, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.010963546410020555, "step_quality_min": -0.9627405218090673, "step_quality_max": 0.6355845072231057, "alignment_signed_mean": -0.18459502073435008, "alignment_abs_mean": 0.6660675208009194, "alignment_min": -0.9715811212463643, "alignment_max": 0.9715811212463643, "door_contact_steps": 19, "path_steps": 48}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 19, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3050752878189087, 0.017267853021621704, 1.3824199438095093, 0.022338278591632843, 0.9845446944236755, 0.13571810722351074, 0.10841301828622818], "right_arm_pose": [0.2707701325416565, -0.24983713030815125, 1.334186315536499, -0.9365387558937073, -0.31781578063964844, -0.11497525125741959, 0.09310725331306458], "left_arm_joint_positions": [-0.11224532127380371, -0.06494566798210144, -0.09148570895195007, -1.476043701171875, 0.28585779666900635, 1.5419034957885742, 0.7514804601669312], "right_arm_joint_positions": [0.08242440223693848, 0.11034992337226868, 0.04887274280190468, -1.2950987815856934, -0.2553180456161499, 1.1543681621551514, 0.1773442029953003], "pregrasp_goal_pose": [0.387747108768397, 0.13303865108103533, 1.0409317734728263, 0.15529813370247028, 0.7455649763644647, 0.633635662318608, 0.13609262700544722], "pregrasp_position_error": 0.3699346944290481, "pregrasp_orientation_error_deg": 66.08608869066654}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 62, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.387747108768397, 0.13303865108103533, 1.0409317734728263, 0.15529813370247028, 0.7455649763644647, 0.633635662318608, 0.13609262700544722], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.0899698969366254, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02268362045288086, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.18453793061247947, "step_quality_min": -0.9894954558585564, "step_quality_max": 0.5590383683490082, "alignment_signed_mean": -0.2577835220186925, "alignment_abs_mean": 0.8241122015910622, "alignment_min": -0.9897071354424101, "alignment_max": 0.9897071354424101, "door_contact_steps": 17, "path_steps": 47}, {"path_found": true, "path_length": 2.0874129061265543, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02091360092163086, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.20880054713076207, "step_quality_min": -0.935025868558127, "step_quality_max": 0.5763327248470269, "alignment_signed_mean": -0.18880139139114477, "alignment_abs_mean": 0.8086608600599711, "alignment_min": -0.9441827202983223, "alignment_max": 0.9441827202983223, "door_contact_steps": 16, "path_steps": 47}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.367747108768397, 0.13303865108103533, 1.0409317734728263, 0.15529813370247028, 0.7455649763644647, 0.633635662318608, 0.13609262700544722], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.1236807430413593, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02784252166748047, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.3400224630301705, "step_quality_min": -0.9247826098776603, "step_quality_max": 0.5815150653022533, "alignment_signed_mean": -0.4663756793885821, "alignment_abs_mean": 0.9119345149813931, "alignment_min": -0.9993143397650279, "alignment_max": 0.9993143397650279, "door_contact_steps": 14, "path_steps": 48}, {"path_found": true, "path_length": 2.123467965150806, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.027228116989135742, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.37098912315417376, "step_quality_min": -0.8592921364750156, "step_quality_max": 0.5842561587860609, "alignment_signed_mean": -0.42259210668120595, "alignment_abs_mean": 0.9101369078630737, "alignment_min": -0.9917690443982734, "alignment_max": 0.9917690443982734, "door_contact_steps": 14, "path_steps": 48}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774710876839704, 0.13303865108103533, 1.0409317734728263, 0.15529813370247028, 0.7455649763644647, 0.633635662318608, 0.13609262700544722], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.052277063250351, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.025471210479736328, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.10191052308849788, "step_quality_min": -1.047218909725264, "step_quality_max": 0.6738957403127123, "alignment_signed_mean": -0.17514295049369957, "alignment_abs_mean": 0.7242807387188515, "alignment_min": -0.9570701632491815, "alignment_max": 0.9570701632491815, "door_contact_steps": 18, "path_steps": 47}, {"path_found": true, "path_length": 2.052345472800848, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.015984535217285156, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.05191455532656339, "step_quality_min": -1.0147096710790353, "step_quality_max": 0.7230962400240203, "alignment_signed_mean": -0.16666785644429588, "alignment_abs_mean": 0.6677254364268883, "alignment_min": -0.9760482358252, "alignment_max": 0.9760482358252, "door_contact_steps": 18, "path_steps": 47}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 20, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.3054247200489044, 0.012455932796001434, 1.3739339113235474, 0.028543470427393913, 0.9827755689620972, 0.14788609743118286, 0.10708446055650711], "right_arm_pose": [0.2740326225757599, -0.25010451674461365, 1.3265926837921143, -0.9272873997688293, -0.33743616938591003, -0.1308184713125229, 0.09571590274572372], "left_arm_joint_positions": [-0.11947250366210938, -0.07365056872367859, -0.10095259547233582, -1.511568546295166, 0.3105682134628296, 1.560511589050293, 0.7436083555221558], "right_arm_joint_positions": [0.08761024475097656, 0.10616591572761536, 0.051890406757593155, -1.3214597702026367, -0.271267294883728, 1.1501717567443848, 0.1389840841293335], "pregrasp_goal_pose": [0.38774736298751866, 0.1330389764798307, 1.0409306157491485, 0.1553014664154389, 0.7455597793152617, 0.6336417935870722, 0.13608874830914733], "pregrasp_position_error": 0.36360484434048085, "pregrasp_orientation_error_deg": 64.56379649996457}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 67, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774736298751866, 0.1330389764798307, 1.0409306157491485, 0.1553014664154389, 0.7455597793152617, 0.6336417935870722, 0.13608874830914733], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.035616997112803, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023006916046142578, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.23029135818763802, "step_quality_min": -0.7390661793440904, "step_quality_max": 0.5477957931701903, "alignment_signed_mean": -0.3316230665616661, "alignment_abs_mean": 0.8570222822531119, "alignment_min": -0.98688535342985, "alignment_max": 0.98688535342985, "door_contact_steps": 16, "path_steps": 46}, {"path_found": true, "path_length": 2.033024720726628, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02467179298400879, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.21657499387531515, "step_quality_min": -0.758817156966286, "step_quality_max": 0.5623306008441172, "alignment_signed_mean": -0.32294413520029525, "alignment_abs_mean": 0.8330561239890738, "alignment_min": -0.9815214593033673, "alignment_max": 0.9815214593033673, "door_contact_steps": 15, "path_steps": 46}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774736298751864, 0.1330389764798307, 1.0409306157491485, 0.1553014664154389, 0.7455597793152617, 0.6336417935870722, 0.13608874830914733], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.068139663368836, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020491600036621094, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.25007443378021754, "step_quality_min": -0.9730509695718051, "step_quality_max": 0.7040718300861972, "alignment_signed_mean": -0.30236853169803724, "alignment_abs_mean": 0.8041673179877837, "alignment_min": -0.9976988186469377, "alignment_max": 0.9976988186469377, "door_contact_steps": 14, "path_steps": 47}, {"path_found": true, "path_length": 2.0681425075089854, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020415544509887695, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.2642270552540025, "step_quality_min": -0.9725957123617929, "step_quality_max": 0.703390917748441, "alignment_signed_mean": -0.3107998576791121, "alignment_abs_mean": 0.8175666979250671, "alignment_min": -0.9872928636497047, "alignment_max": 0.9872928636497047, "door_contact_steps": 14, "path_steps": 47}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077473629875187, 0.1330389764798307, 1.0409306157491485, 0.1553014664154389, 0.7455597793152617, 0.6336417935870722, 0.13608874830914733], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.9994520435750844, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.016921043395996094, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.07178273838705103, "step_quality_min": -1.1389067462561449, "step_quality_max": 0.7060633098396727, "alignment_signed_mean": -0.23696020093992798, "alignment_abs_mean": 0.7026827594390407, "alignment_min": -0.9698131998342597, "alignment_max": 0.9698131998342597, "door_contact_steps": 17, "path_steps": 45}, {"path_found": true, "path_length": 1.9994721269678037, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.018282413482666016, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.079838629931394, "step_quality_min": -1.0328091883583808, "step_quality_max": 0.6933164655434221, "alignment_signed_mean": -0.2520179734804102, "alignment_abs_mean": 0.7456278462190999, "alignment_min": -0.9517950023524588, "alignment_max": 0.9517950023524588, "door_contact_steps": 17, "path_steps": 45}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 21, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.30562031269073486, 0.007431354373693466, 1.3654212951660156, 0.03498869761824608, 0.980705201625824, 0.16054482758045197, 0.10591741651296616], "right_arm_pose": [0.27733558416366577, -0.25030332803726196, 1.3189780712127686, -0.9173393249511719, -0.35684266686439514, -0.1468568593263626, 0.09790240973234177], "left_arm_joint_positions": [-0.12678194046020508, -0.08167263865470886, -0.11097189784049988, -1.546262264251709, 0.33619511127471924, 1.5785889625549316, 0.7347351312637329], "right_arm_joint_positions": [0.09276008605957031, 0.10240653157234192, 0.05501345172524452, -1.3479132652282715, -0.2872856855392456, 1.1458303928375244, 0.10062229633331299], "pregrasp_goal_pose": [0.3877471319966642, 0.13303890944039037, 1.0409312925657883, 0.1553004104472905, 0.7455629465859394, 0.6336380640990479, 0.13608996626425374], "pregrasp_position_error": 0.35751340412163235, "pregrasp_orientation_error_deg": 62.97529030623304}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 75, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877471319966642, 0.13303890944039037, 1.0409312925657883, 0.1553004104472905, 0.7455629465859394, 0.6336380640990479, 0.13608996626425374], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.9815176925229219, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023392677307128906, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.2813973658701319, "step_quality_min": -0.7529787254214718, "step_quality_max": 0.4300557416990018, "alignment_signed_mean": -0.2699739357117459, "alignment_abs_mean": 0.8654061689968913, "alignment_min": -0.9826356284417865, "alignment_max": 0.9826356284417865, "door_contact_steps": 13, "path_steps": 45}, {"path_found": true, "path_length": 1.9790583483180886, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02454519271850586, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.25381907750205623, "step_quality_min": -0.8223541300232078, "step_quality_max": 0.5336970535787564, "alignment_signed_mean": -0.36521554156175623, "alignment_abs_mean": 0.8486074063416514, "alignment_min": -0.9846428321832873, "alignment_max": 0.9846428321832873, "door_contact_steps": 13, "path_steps": 45}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677471319966642, 0.13303890944039037, 1.0409312925657883, 0.1553004104472905, 0.7455629465859394, 0.6336380640990479, 0.13608996626425374], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.0126328038946895, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.012428045272827148, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.2059852243974312, "step_quality_min": -1.0449613327808982, "step_quality_max": 0.7967965710360801, "alignment_signed_mean": -0.2287068097306883, "alignment_abs_mean": 0.7585390577315926, "alignment_min": -0.9851721659641384, "alignment_max": 0.9851721659641384, "door_contact_steps": 14, "path_steps": 46}, {"path_found": true, "path_length": 2.0126971082688763, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.003951072692871094, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.2288416225655907, "step_quality_min": -1.1216371182550848, "step_quality_max": 0.7906772131342573, "alignment_signed_mean": -0.2446240149071484, "alignment_abs_mean": 0.7854044934230531, "alignment_min": -0.9982050713813059, "alignment_max": 0.9982050713813059, "door_contact_steps": 14, "path_steps": 46}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774713199666424, 0.13303890944039037, 1.0409312925657883, 0.1553004104472905, 0.7455629465859394, 0.6336380640990479, 0.13608996626425374], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.9468164369215994, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02088475227355957, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.11279581164932205, "step_quality_min": -0.7919190598159978, "step_quality_max": 0.5502398612845872, "alignment_signed_mean": -0.2506024057804581, "alignment_abs_mean": 0.7674490830540536, "alignment_min": -0.9725338381451284, "alignment_max": 0.9725338381451284, "door_contact_steps": 16, "path_steps": 44}, {"path_found": true, "path_length": 1.946740278825756, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019126415252685547, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.059359079774640305, "step_quality_min": -0.8945802576433057, "step_quality_max": 0.612308049971134, "alignment_signed_mean": -0.21875518869683894, "alignment_abs_mean": 0.7535804303049445, "alignment_min": -0.9492963038730272, "alignment_max": 0.9492963038730272, "door_contact_steps": 16, "path_steps": 44}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 22, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.30591264367103577, 0.002293746918439865, 1.3563990592956543, 0.04163529351353645, 0.9783571362495422, 0.17366085946559906, 0.10452645272016525], "right_arm_pose": [0.280830055475235, -0.25045979022979736, 1.3115522861480713, -0.9067339897155762, -0.3759639263153076, -0.16294293105602264, 0.09967053681612015], "left_arm_joint_positions": [-0.13405370712280273, -0.08838698267936707, -0.12132450938224792, -1.5805366039276123, 0.36279308795928955, 1.5960383415222168, 0.7248529195785522], "right_arm_joint_positions": [0.09791827201843262, 0.0981779396533966, 0.05797484889626503, -1.3741559982299805, -0.303308367729187, 1.141557216644287, 0.06225240230560303], "pregrasp_goal_pose": [0.38774712082427426, 0.13303908958586536, 1.0409296931297491, 0.15529870079165836, 0.7455594956258635, 0.633642106760133, 0.1360920003347414], "pregrasp_position_error": 0.3511582937498193, "pregrasp_orientation_error_deg": 61.33238196948992}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 85, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774712082427426, 0.13303908958586536, 1.0409296931297491, 0.15529870079165836, 0.7455594956258635, 0.633642106760133, 0.1360920003347414], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.9270983060459994, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023387908935546875, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.17182333586127915, "step_quality_min": -0.980254431416441, "step_quality_max": 0.5763554112801097, "alignment_signed_mean": -0.32177197250781686, "alignment_abs_mean": 0.8429244953749363, "alignment_min": -0.9952367046420227, "alignment_max": 0.9952367046420227, "door_contact_steps": 14, "path_steps": 44}, {"path_found": true, "path_length": 1.9246786189270775, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024130582809448242, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.21682847899374832, "step_quality_min": -0.829805587238381, "step_quality_max": 0.6392745121818948, "alignment_signed_mean": -0.2882944272931627, "alignment_abs_mean": 0.8299971027005235, "alignment_min": -0.9973862307314927, "alignment_max": 0.9973862307314927, "door_contact_steps": 14, "path_steps": 44}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774712082427424, 0.13303908958586536, 1.0409296931297491, 0.15529870079165836, 0.7455594956258635, 0.633642106760133, 0.1360920003347414], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.956989583741422, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.003587961196899414, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.2480842322364284, "step_quality_min": -1.179229252987229, "step_quality_max": 0.7968063235779184, "alignment_signed_mean": -0.117908931690616, "alignment_abs_mean": 0.7871522477825925, "alignment_min": -0.9851205212718787, "alignment_max": 0.9851205212718787, "door_contact_steps": 15, "path_steps": 45}, {"path_found": true, "path_length": 1.9570134730481505, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.002655029296875, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.23342177653094684, "step_quality_min": -1.2089783271046226, "step_quality_max": 0.8075738531918117, "alignment_signed_mean": -0.1301511895725574, "alignment_abs_mean": 0.7647953803924459, "alignment_min": -0.9886688291660984, "alignment_max": 0.9886688291660984, "door_contact_steps": 15, "path_steps": 45}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077471208242743, 0.13303908958586536, 1.0409296931297491, 0.15529870079165836, 0.7455594956258635, 0.633642106760133, 0.1360920003347414], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.8940901403438855, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024167776107788086, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.14661593711085774, "step_quality_min": -0.8306951412253012, "step_quality_max": 0.6237544372927304, "alignment_signed_mean": -0.28302942196504516, "alignment_abs_mean": 0.7802226416774715, "alignment_min": -0.9541512555321456, "alignment_max": 0.9541512555321456, "door_contact_steps": 14, "path_steps": 43}, {"path_found": true, "path_length": 1.8940243035488928, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.016127347946166992, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.100256892115941, "step_quality_min": -0.8477304165188916, "step_quality_max": 0.6849110701458629, "alignment_signed_mean": -0.1992047508878464, "alignment_abs_mean": 0.7196015055939418, "alignment_min": -0.9773388017481891, "alignment_max": 0.9773388017481891, "door_contact_steps": 14, "path_steps": 43}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474820137023926, "final_height": 1.0474820137023926, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474820137023926}], "score": 0.0007343292236328118}}
+{"frame_index": 23, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.30617672204971313, -0.0030668936669826508, 1.3470847606658936, 0.04853923246264458, 0.975680410861969, 0.1872350126504898, 0.10312479734420776], "right_arm_pose": [0.284474641084671, -0.25052106380462646, 1.3042885065078735, -0.895469605922699, -0.3948290944099426, -0.17898376286029816, 0.1010395884513855], "left_arm_joint_positions": [-0.14143109321594238, -0.09399864077568054, -0.13204476237297058, -1.6140730381011963, 0.3903282880783081, 1.6128365993499756, 0.7139509916305542], "right_arm_joint_positions": [0.10306668281555176, 0.09395197033882141, 0.061079297214746475, -1.4008853435516357, -0.31925737857818604, 1.1372284889221191, 0.02392590045928955], "pregrasp_goal_pose": [0.3877482403240202, 0.1330380619798943, 1.0409319542774629, 0.15529794126359767, 0.7455660920715494, 0.6336343498582937, 0.13609284504375416], "pregrasp_position_error": 0.3448304110787299, "pregrasp_orientation_error_deg": 59.62768543309607}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 96, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877482403240202, 0.1330380619798943, 1.0409319542774629, 0.15529794126359767, 0.7455660920715494, 0.6336343498582937, 0.13609284504375416], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.8723185270427523, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02309560775756836, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.21026340519108674, "step_quality_min": -1.1823174199587696, "step_quality_max": 0.8000847259905095, "alignment_signed_mean": -0.4269723081321307, "alignment_abs_mean": 0.8210909053673433, "alignment_min": -0.9999486951940425, "alignment_max": 0.9999486951940425, "door_contact_steps": 14, "path_steps": 43}, {"path_found": true, "path_length": 1.8698754872393333, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02357196807861328, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.19916608386153914, "step_quality_min": -1.1558802733225104, "step_quality_max": 0.8498902246300734, "alignment_signed_mean": -0.3974892489692204, "alignment_abs_mean": 0.8188012749422874, "alignment_min": -0.998529595228711, "alignment_max": 0.998529595228711, "door_contact_steps": 14, "path_steps": 43}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677482403240202, 0.1330380619798943, 1.0409319542774629, 0.15529794126359767, 0.7455660920715494, 0.6336343498582937, 0.13609284504375416], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.9010622625387212, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0010652542114257812, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.3272911151016348, "step_quality_min": -1.255243002335846, "step_quality_max": 0.8125209781523762, "alignment_signed_mean": -0.14859381579529893, "alignment_abs_mean": 0.8274859699866963, "alignment_min": -0.9995184057028851, "alignment_max": 0.9995184057028851, "door_contact_steps": 15, "path_steps": 44}, {"path_found": true, "path_length": 1.9008862883250912, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0029430389404296875, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.28044600934603786, "step_quality_min": -1.241581753469776, "step_quality_max": 0.8124204120745573, "alignment_signed_mean": -0.12118823762313477, "alignment_abs_mean": 0.7973468380037757, "alignment_min": -0.9905356045064742, "alignment_max": 0.9905356045064742, "door_contact_steps": 15, "path_steps": 44}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774824032402024, 0.1330380619798943, 1.0409319542774629, 0.15529794126359767, 0.7455660920715494, 0.6336343498582937, 0.13609284504375416], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.8408835286888061, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.016836881637573242, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.1586255719084194, "step_quality_min": -0.8386175611385192, "step_quality_max": 0.6549233694334773, "alignment_signed_mean": -0.2305816095585935, "alignment_abs_mean": 0.7744562726111671, "alignment_min": -0.9685234113661831, "alignment_max": 0.9685234113661831, "door_contact_steps": 13, "path_steps": 42}, {"path_found": true, "path_length": 1.8408961284899577, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02312612533569336, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.08346224129246799, "step_quality_min": -0.9167265847423465, "step_quality_max": 0.5997928040328595, "alignment_signed_mean": -0.16800010998153195, "alignment_abs_mean": 0.755060989454312, "alignment_min": -0.9495720607410617, "alignment_max": 0.9495720607410617, "door_contact_steps": 13, "path_steps": 42}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 24, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3064623475074768, -0.008717939257621765, 1.3374056816101074, 0.05573919788002968, 0.9726575613021851, 0.2012549489736557, 0.10162128508090973], "right_arm_pose": [0.28823351860046387, -0.250562459230423, 1.2971338033676147, -0.8835277557373047, -0.41340816020965576, -0.19512009620666504, 0.10198349505662918], "left_arm_joint_positions": [-0.14902400970458984, -0.09799882769584656, -0.14335891604423523, -1.6467559337615967, 0.4188493490219116, 1.6287572383880615, 0.7019065618515015], "right_arm_joint_positions": [0.10823273658752441, 0.09013393521308899, 0.06406453251838684, -1.4271178245544434, -0.335257887840271, 1.1330256462097168, -0.014484763145446777], "pregrasp_goal_pose": [0.3877471586758414, 0.13303916819247824, 1.0409316550688605, 0.15529886650958755, 0.7455638491764965, 0.6336369922118438, 0.13609177404491082], "pregrasp_position_error": 0.3385249569128927, "pregrasp_orientation_error_deg": 57.86578518563913}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 115, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877471586758414, 0.13303916819247824, 1.0409316550688605, 0.15529886650958755, 0.7455638491764965, 0.6336369922118438, 0.13609177404491082], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.817534293584417, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.025327205657958984, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.27530966641893356, "step_quality_min": -1.1281017622943796, "step_quality_max": 0.8200356897342262, "alignment_signed_mean": -0.32257696501334504, "alignment_abs_mean": 0.8455328795568472, "alignment_min": -0.9912727202247525, "alignment_max": 0.9912727202247525, "door_contact_steps": 14, "path_steps": 42}, {"path_found": true, "path_length": 1.815203695819889, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02312946319580078, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.1710966049961333, "step_quality_min": -1.2997239118768922, "step_quality_max": 0.8079587924813709, "alignment_signed_mean": -0.27943479181375913, "alignment_abs_mean": 0.8238985932503824, "alignment_min": -0.9882783622390494, "alignment_max": 0.9882783622390494, "door_contact_steps": 15, "path_steps": 42}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677471586758414, 0.13303916819247824, 1.0409316550688605, 0.15529886650958755, 0.7455638491764965, 0.6336369922118438, 0.13609177404491082], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.844688898820391, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0030961036682128906, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.28986454195425443, "step_quality_min": -1.377474938977826, "step_quality_max": 0.8563718741205846, "alignment_signed_mean": -0.13200657878845976, "alignment_abs_mean": 0.7765973851061357, "alignment_min": -0.9931929713543998, "alignment_max": 0.9931929713543998, "door_contact_steps": 15, "path_steps": 42}, {"path_found": true, "path_length": 1.8446213480397022, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.002218484878540039, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.3076694112622079, "step_quality_min": -1.3210209958230863, "step_quality_max": 0.8494660103035501, "alignment_signed_mean": -0.15101230713637148, "alignment_abs_mean": 0.8070496067656809, "alignment_min": -0.9972090687596913, "alignment_max": 0.9972090687596913, "door_contact_steps": 15, "path_steps": 42}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774715867584144, 0.13303916819247824, 1.0409316550688605, 0.15529886650958755, 0.7455638491764965, 0.6336369922118438, 0.13609177404491082], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.7877175340429408, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019858598709106445, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.09667115959176564, "step_quality_min": -0.9073598479747229, "step_quality_max": 0.5869153098257606, "alignment_signed_mean": -0.23705975149070685, "alignment_abs_mean": 0.7827194984088172, "alignment_min": -0.9519492196145873, "alignment_max": 0.9519492196145873, "door_contact_steps": 14, "path_steps": 41}, {"path_found": true, "path_length": 1.7876295669251927, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.016284942626953125, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.07243536778931194, "step_quality_min": -0.7861278340525125, "step_quality_max": 0.6748209030186121, "alignment_signed_mean": -0.23576555539117564, "alignment_abs_mean": 0.7480877600785608, "alignment_min": -0.9632066627186089, "alignment_max": 0.9632066627186089, "door_contact_steps": 14, "path_steps": 41}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 25, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3067375123500824, -0.014362171292304993, 1.32747483253479, 0.06301221996545792, 0.9692715406417847, 0.2157149314880371, 0.10004685819149017], "right_arm_pose": [0.2921501398086548, -0.25053155422210693, 1.2901971340179443, -0.8709562420845032, -0.4316466450691223, -0.2111937701702118, 0.1025363951921463], "left_arm_joint_positions": [-0.1565713882446289, -0.10048434138298035, -0.15478679537773132, -1.6785049438476562, 0.44842612743377686, 1.6436588764190674, 0.6887134313583374], "right_arm_joint_positions": [0.11341404914855957, 0.08565333485603333, 0.06718996167182922, -1.4536654949188232, -0.3512207269668579, 1.128711462020874, -0.05288398265838623], "pregrasp_goal_pose": [0.38774729351443893, 0.1330390458264697, 1.0409297034241445, 0.1552955044026309, 0.7455617792969654, 0.6336393999231917, 0.13609573993646026], "pregrasp_position_error": 0.33226166566341897, "pregrasp_orientation_error_deg": 56.05096970452744}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 130, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774729351443893, 0.1330390458264697, 1.0409297034241445, 0.1552955044026309, 0.7455617792969654, 0.6336393999231917, 0.13609573993646026], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.7626277032476365, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.017113685607910156, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.20713387213250825, "step_quality_min": -1.244259248323512, "step_quality_max": 0.7995481253785954, "alignment_signed_mean": -0.3880517174844233, "alignment_abs_mean": 0.8078937121128028, "alignment_min": -0.9945399397287212, "alignment_max": 0.9945399397287212, "door_contact_steps": 15, "path_steps": 41}, {"path_found": true, "path_length": 1.7603585800049533, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0231478214263916, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.2026211922700735, "step_quality_min": -1.277407097599224, "step_quality_max": 0.7755808000904104, "alignment_signed_mean": -0.2585579887956236, "alignment_abs_mean": 0.8174154500653972, "alignment_min": -0.9922853539302084, "alignment_max": 0.9922853539302084, "door_contact_steps": 15, "path_steps": 41}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677472935144389, 0.1330390458264697, 1.0409297034241445, 0.1552955044026309, 0.7455617792969654, 0.6336393999231917, 0.13609573993646026], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.7884876698107157, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0025093555450439453, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.3402420044719428, "step_quality_min": -1.382585784303188, "step_quality_max": 0.8149659464583164, "alignment_signed_mean": -0.1670382103985864, "alignment_abs_mean": 0.7550431888147016, "alignment_min": -0.9988351711496279, "alignment_max": 0.9988351711496279, "door_contact_steps": 15, "path_steps": 41}, {"path_found": true, "path_length": 1.7884627565649558, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0017087459564208984, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.3534394860032218, "step_quality_min": -1.3817339685405003, "step_quality_max": 0.8152145635773769, "alignment_signed_mean": -0.19412299619097517, "alignment_abs_mean": 0.8193334890445384, "alignment_min": -0.999758498599236, "alignment_max": 0.999758498599236, "door_contact_steps": 15, "path_steps": 41}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774729351443895, 0.1330390458264697, 1.0409297034241445, 0.1552955044026309, 0.7455617792969654, 0.6336393999231917, 0.13609573993646026], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.7344596986324414, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019825458526611328, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.1204125045510497, "step_quality_min": -1.0652786708276452, "step_quality_max": 0.7023414618923748, "alignment_signed_mean": -0.3086581710685223, "alignment_abs_mean": 0.7792933349934338, "alignment_min": -0.9989199647109253, "alignment_max": 0.9989199647109253, "door_contact_steps": 14, "path_steps": 40}, {"path_found": true, "path_length": 1.7345283828083733, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.017840147018432617, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.12359197455249184, "step_quality_min": -1.3266058957354594, "step_quality_max": 0.7086620859687995, "alignment_signed_mean": -0.3098942648794906, "alignment_abs_mean": 0.7229313256975721, "alignment_min": -0.9999407645110376, "alignment_max": 0.9999407645110376, "door_contact_steps": 14, "path_steps": 40}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 26, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.3069811761379242, -0.02036474645137787, 1.317227840423584, 0.07066738605499268, 0.9654826521873474, 0.23056285083293915, 0.09843867272138596], "right_arm_pose": [0.2961467504501343, -0.25044623017311096, 1.2833704948425293, -0.8577461838722229, -0.44951242208480835, -0.22730836272239685, 0.10266928374767303], "left_arm_joint_positions": [-0.1643538475036621, -0.10191461443901062, -0.16696402430534363, -1.709385871887207, 0.4789541959762573, 1.6573774814605713, 0.6744359731674194], "right_arm_joint_positions": [0.11855387687683105, 0.08192756772041321, 0.07026985287666321, -1.479870080947876, -0.3672367334365845, 1.1243674755096436, -0.09122097492218018], "pregrasp_goal_pose": [0.3877473643059215, 0.13303919853889767, 1.040930790798345, 0.15530123264218537, 0.7455605573536728, 0.633640877630242, 0.13608901739036458], "pregrasp_position_error": 0.32618400807118003, "pregrasp_orientation_error_deg": 54.180333883922266}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 146, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877473643059215, 0.13303919853889767, 1.040930790798345, 0.15530123264218537, 0.7455605573536728, 0.633640877630242, 0.13608901739036458], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.7077371072668617, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.003568410873413086, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.2958344942777783, "step_quality_min": -1.489300931472373, "step_quality_max": 0.8114584736282515, "alignment_signed_mean": -0.125152811265637, "alignment_abs_mean": 0.7705213300178911, "alignment_min": -0.9967865152482943, "alignment_max": 0.9967865152482943, "door_contact_steps": 15, "path_steps": 40}, {"path_found": true, "path_length": 1.7054688482519131, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0032846927642822266, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.28263979308119835, "step_quality_min": -1.4405393949592826, "step_quality_max": 0.7959091463293875, "alignment_signed_mean": -0.1791712322930701, "alignment_abs_mean": 0.7748785688147798, "alignment_min": -0.9979776453133444, "alignment_max": 0.9979776453133444, "door_contact_steps": 15, "path_steps": 40}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677473643059215, 0.13303919853889767, 1.040930790798345, 0.15530123264218537, 0.7455605573536728, 0.633640877630242, 0.13608901739036458], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.7324380277831677, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0007953643798828125, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.38181658552825304, "step_quality_min": -1.3591597604461718, "step_quality_max": 0.6760223447764256, "alignment_signed_mean": -0.16016170736153768, "alignment_abs_mean": 0.8050439965522392, "alignment_min": -0.9985524140549202, "alignment_max": 0.9985524140549202, "door_contact_steps": 15, "path_steps": 40}, {"path_found": true, "path_length": 1.7323298211929896, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.00054168701171875, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.37208523840652946, "step_quality_min": -1.4247773884693498, "step_quality_max": 0.7132068165473637, "alignment_signed_mean": -0.18405348098847973, "alignment_abs_mean": 0.8109320698788255, "alignment_min": -0.999474117621725, "alignment_max": 0.999474117621725, "door_contact_steps": 15, "path_steps": 40}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077473643059215, 0.13303919853889767, 1.040930790798345, 0.15530123264218537, 0.7455605573536728, 0.633640877630242, 0.13608901739036458], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.6814463086114342, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023714780807495117, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.08603702590815657, "step_quality_min": -1.5569563033920362, "step_quality_max": 0.8537124228442268, "alignment_signed_mean": -0.20757732080224678, "alignment_abs_mean": 0.7075964172401299, "alignment_min": -0.99743414940553, "alignment_max": 0.99743414940553, "door_contact_steps": 14, "path_steps": 39}, {"path_found": true, "path_length": 1.6812878567741165, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01668262481689453, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.16366316658423458, "step_quality_min": -1.5442841358972523, "step_quality_max": 0.8529065135961256, "alignment_signed_mean": -0.2971247052791455, "alignment_abs_mean": 0.7623829483860636, "alignment_min": -0.9998678004716733, "alignment_max": 0.9998678004716733, "door_contact_steps": 14, "path_steps": 39}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 27, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3073198199272156, -0.02641291916370392, 1.3065166473388672, 0.07841505110263824, 0.9613152742385864, 0.24574072659015656, 0.09662109613418579], "right_arm_pose": [0.30026698112487793, -0.25028741359710693, 1.2766921520233154, -0.8438923358917236, -0.46704328060150146, -0.24338413774967194, 0.10237377136945724], "left_arm_joint_positions": [-0.17217493057250977, -0.10092398524284363, -0.17903229594230652, -1.739065170288086, 0.5104767084121704, 1.669832706451416, 0.6589733362197876], "right_arm_joint_positions": [0.12370777130126953, 0.07742241024971008, 0.07328775525093079, -1.5063471794128418, -0.3832441568374634, 1.1201395988464355, -0.12968838214874268], "pregrasp_goal_pose": [0.3877473321053591, 0.13303951605824893, 1.040931213400571, 0.15529949010905664, 0.7455622141866446, 0.633638918010221, 0.13609105309244618], "pregrasp_position_error": 0.32004575693730036, "pregrasp_orientation_error_deg": 52.270104269738404}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 161, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 294, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877473321053591, 0.13303951605824893, 1.040931213400571, 0.15529949010905664, 0.7455622141866446, 0.633638918010221, 0.13609105309244618], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.6526755060908667, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0031135082244873047, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.2854092828630266, "step_quality_min": -1.4038487406290434, "step_quality_max": 0.6610688552539167, "alignment_signed_mean": -0.1924450436925272, "alignment_abs_mean": 0.7885218348308348, "alignment_min": -0.9936487467184143, "alignment_max": 0.9936487467184143, "door_contact_steps": 15, "path_steps": 39}, {"path_found": true, "path_length": 1.6504729840472276, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.00238800048828125, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.2023115257300116, "step_quality_min": -1.3307982235793547, "step_quality_max": 0.6584237736969873, "alignment_signed_mean": -0.24116243876364704, "alignment_abs_mean": 0.7824243253924434, "alignment_min": -0.996227943711353, "alignment_max": 0.996227943711353, "door_contact_steps": 16, "path_steps": 39}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677473321053591, 0.13303951605824893, 1.040931213400571, 0.15529949010905664, 0.7455622141866446, 0.633638918010221, 0.13609105309244618], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.6759351655242483, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0008742809295654297, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.48312973943100995, "step_quality_min": -1.4683940666093103, "step_quality_max": 0.8062700302803967, "alignment_signed_mean": -0.24711632116088678, "alignment_abs_mean": 0.8428130841127169, "alignment_min": -0.9983141529819903, "alignment_max": 0.9983141529819903, "door_contact_steps": 15, "path_steps": 39}, {"path_found": true, "path_length": 1.675878926646216, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0008800029754638672, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.3962628240933767, "step_quality_min": -1.508812511474241, "step_quality_max": 0.8098997595011133, "alignment_signed_mean": -0.263513117122821, "alignment_abs_mean": 0.8020853316184474, "alignment_min": -0.998711836550334, "alignment_max": 0.998711836550334, "door_contact_steps": 15, "path_steps": 39}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774733210535913, 0.13303951605824893, 1.040931213400571, 0.15529949010905664, 0.7455622141866446, 0.633638918010221, 0.13609105309244618], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.627959023043274, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022224903106689453, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.1453820506804794, "step_quality_min": -1.4622049891184001, "step_quality_max": 0.6951452476991253, "alignment_signed_mean": -0.3531267132368238, "alignment_abs_mean": 0.7688126932220121, "alignment_min": -0.9998463673998452, "alignment_max": 0.9998463673998452, "door_contact_steps": 15, "path_steps": 38}, {"path_found": true, "path_length": 1.6276944160834097, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023795604705810547, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.14407346568446946, "step_quality_min": -1.4966326984091756, "step_quality_max": 0.6859623585196121, "alignment_signed_mean": -0.21142581922014725, "alignment_abs_mean": 0.7347508686576657, "alignment_min": -0.9968865404688645, "alignment_max": 0.9968865404688645, "door_contact_steps": 15, "path_steps": 38}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047480821609497, "final_height": 1.047480821609497, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047480821609497}], "score": 0.0007303555806477858}}
+{"frame_index": 28, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3076290190219879, -0.03266975283622742, 1.295642614364624, 0.08637094497680664, 0.9567045569419861, 0.26128894090652466, 0.09478718042373657], "right_arm_pose": [0.3044193983078003, -0.25005292892456055, 1.2701842784881592, -0.8294359445571899, -0.4841417074203491, -0.2594233751296997, 0.1016976535320282], "left_arm_joint_positions": [-0.18012714385986328, -0.09840461611747742, -0.19168278574943542, -1.7673819065093994, 0.5429645776748657, 1.6807870864868164, 0.6423741579055786], "right_arm_joint_positions": [0.1289067268371582, 0.07352450489997864, 0.07636120915412903, -1.5325927734375, -0.39927351474761963, 1.1159329414367676, -0.16801226139068604], "pregrasp_goal_pose": [0.3877468419201376, 0.13303903511686116, 1.0409309805164841, 0.15530055773877033, 0.7455603879067801, 0.6336410718193367, 0.13608981171990944], "pregrasp_position_error": 0.3142551262404638, "pregrasp_orientation_error_deg": 50.31101376616014}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 176, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 284, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877468419201376, 0.13303903511686116, 1.0409309805164841, 0.15530055773877033, 0.7455603879067801, 0.6336410718193367, 0.13608981171990944], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.59787942080716, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0032758712768554688, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.3529559946315724, "step_quality_min": -1.4897464184456468, "step_quality_max": 0.7280345481816832, "alignment_signed_mean": -0.19854237363760996, "alignment_abs_mean": 0.7696564406203695, "alignment_min": -0.9996334613151954, "alignment_max": 0.9996334613151954, "door_contact_steps": 15, "path_steps": 37}, {"path_found": true, "path_length": 1.5957494088398045, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.004023075103759766, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.3440058897708765, "step_quality_min": -1.3566760941506666, "step_quality_max": 0.7940588818410343, "alignment_signed_mean": -0.2549848251043497, "alignment_abs_mean": 0.7761549527425701, "alignment_min": -0.9948669527404449, "alignment_max": 0.9948669527404449, "door_contact_steps": 15, "path_steps": 37}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774684192013757, 0.13303903511686116, 1.0409309805164841, 0.15530055773877033, 0.7455603879067801, 0.6336410718193367, 0.13608981171990944], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.6199003252734892, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0008950233459472656, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.4277612402776002, "step_quality_min": -1.4875123034923923, "step_quality_max": 0.6344214586042006, "alignment_signed_mean": -0.2778494844552327, "alignment_abs_mean": 0.838257759898225, "alignment_min": -0.9861026356058784, "alignment_max": 0.9861026356058784, "door_contact_steps": 15, "path_steps": 38}, {"path_found": true, "path_length": 1.6197902967010296, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0009706020355224609, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.3376749537907671, "step_quality_min": -1.5335743545821865, "step_quality_max": 0.5944758330591148, "alignment_signed_mean": -0.3171526450210791, "alignment_abs_mean": 0.8137172266086588, "alignment_min": -0.984205741038635, "alignment_max": 0.984205741038635, "door_contact_steps": 15, "path_steps": 38}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077468419201376, 0.13303903511686116, 1.0409309805164841, 0.15530055773877033, 0.7455603879067801, 0.6336410718193367, 0.13608981171990944], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.5747826795404514, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021428823471069336, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.23745341806413622, "step_quality_min": -1.5115624796183826, "step_quality_max": 0.8055947287874771, "alignment_signed_mean": -0.3838471255062082, "alignment_abs_mean": 0.7826993160209686, "alignment_min": -0.9975197329662927, "alignment_max": 0.9975197329662927, "door_contact_steps": 15, "path_steps": 37}, {"path_found": true, "path_length": 1.5747194808340024, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.017322301864624023, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.22636575678351614, "step_quality_min": -1.5418561745736794, "step_quality_max": 0.7784048601550422, "alignment_signed_mean": -0.4294852447120069, "alignment_abs_mean": 0.7648440588234059, "alignment_min": -0.994303796566918, "alignment_max": 0.994303796566918, "door_contact_steps": 15, "path_steps": 37}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 29, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.3078712522983551, -0.03907010704278946, 1.284637689590454, 0.09448088705539703, 0.951643705368042, 0.27711954712867737, 0.09301802515983582], "right_arm_pose": [0.30872222781181335, -0.24979713559150696, 1.2638062238693237, -0.8143808245658875, -0.5008059144020081, -0.27542394399642944, 0.10059301555156708], "left_arm_joint_positions": [-0.18837904930114746, -0.09426161646842957, -0.20461031794548035, -1.7941443920135498, 0.5763477087020874, 1.6899950504302979, 0.6247974634170532], "right_arm_joint_positions": [0.13405728340148926, 0.06943824887275696, 0.07940128445625305, -1.5592212677001953, -0.4152883291244507, 1.1116104125976562, -0.20638501644134521], "pregrasp_goal_pose": [0.3877469312745625, 0.13303933955541103, 1.040930682760958, 0.1552985658370206, 0.7455626533138349, 0.6336383952530701, 0.13609213604655226], "pregrasp_position_error": 0.308860633422327, "pregrasp_orientation_error_deg": 48.31179714898635}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 206, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 279, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877469312745625, 0.13303933955541103, 1.040930682760958, 0.1552985658370206, 0.7455626533138349, 0.6336383952530701, 0.13609213604655226], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.5434432647387704, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0004885196685791016, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.3479425968380735, "step_quality_min": -1.48455783970343, "step_quality_max": 0.572135132512215, "alignment_signed_mean": -0.3376449221422116, "alignment_abs_mean": 0.8271221807440212, "alignment_min": -0.9997357108571497, "alignment_max": 0.9997357108571497, "door_contact_steps": 15, "path_steps": 36}, {"path_found": true, "path_length": 1.5414247863182808, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.002188444137573242, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.37203977647595216, "step_quality_min": -1.5141225452333602, "step_quality_max": 0.6314001259364841, "alignment_signed_mean": -0.3464517113190816, "alignment_abs_mean": 0.8104464668198852, "alignment_min": -0.9930858992484014, "alignment_max": 0.9930858992484014, "door_contact_steps": 15, "path_steps": 36}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677469312745625, 0.13303933955541103, 1.040930682760958, 0.1552985658370206, 0.7455626533138349, 0.6336383952530701, 0.13609213604655226], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.564136923846968, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.001148223876953125, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.31874649839769387, "step_quality_min": -1.4120666434296578, "step_quality_max": 0.6134097351444225, "alignment_signed_mean": -0.37553498091149673, "alignment_abs_mean": 0.7850126377186192, "alignment_min": -0.9842303443444359, "alignment_max": 0.9842303443444359, "door_contact_steps": 16, "path_steps": 37}, {"path_found": true, "path_length": 1.5641547378112677, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.002184152603149414, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.33137425305271184, "step_quality_min": -1.496122432811325, "step_quality_max": 0.6413713454022751, "alignment_signed_mean": -0.39645237447923537, "alignment_abs_mean": 0.8296766545603036, "alignment_min": -0.9994313112548731, "alignment_max": 0.9994313112548731, "door_contact_steps": 16, "path_steps": 37}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077469312745625, 0.13303933955541103, 1.040930682760958, 0.1552985658370206, 0.7455626533138349, 0.6336383952530701, 0.13609213604655226], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.5219227440531113, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0013883113861083984, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.23660739291188895, "step_quality_min": -1.5489861082852618, "step_quality_max": 0.708561986072289, "alignment_signed_mean": -0.24305403873933634, "alignment_abs_mean": 0.7357620118917246, "alignment_min": -0.9937024398422073, "alignment_max": 0.9937024398422073, "door_contact_steps": 15, "path_steps": 36}, {"path_found": true, "path_length": 1.521856213540252, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020720720291137695, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.22645919130956826, "step_quality_min": -1.5179618071600904, "step_quality_max": 0.5946037229426241, "alignment_signed_mean": -0.44322726490727354, "alignment_abs_mean": 0.786156939933152, "alignment_min": -0.9937833710475849, "alignment_max": 0.9937833710475849, "door_contact_steps": 15, "path_steps": 36}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 30, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.30819064378738403, -0.045516736805438995, 1.2732285261154175, 0.10269434750080109, 0.946169376373291, 0.29315856099128723, 0.09096912294626236], "right_arm_pose": [0.3131144344806671, -0.24942593276500702, 1.2576477527618408, -0.7987343668937683, -0.5170236229896545, -0.2913672626018524, 0.0990714356303215], "left_arm_joint_positions": [-0.19680476188659668, -0.08783909678459167, -0.21760651469230652, -1.8191895484924316, 0.6104785203933716, 1.6973192691802979, 0.6061629056930542], "right_arm_joint_positions": [0.13916349411010742, 0.06528928875923157, 0.0824451744556427, -1.5854339599609375, -0.4312626123428345, 1.1073675155639648, -0.24481570720672607], "pregrasp_goal_pose": [0.38774691031016323, 0.1330393146326472, 1.040928951669471, 0.15529401976341412, 0.7455606768934386, 0.6336406844733511, 0.13609749254141654], "pregrasp_position_error": 0.3036026273535388, "pregrasp_orientation_error_deg": 46.29020004439546}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 239, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 276, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774691031016323, 0.1330393146326472, 1.040928951669471, 0.15529401976341412, 0.7455606768934386, 0.6336406844733511, 0.13609749254141654], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.4894310591122437, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.002813577651977539, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.39606870374777703, "step_quality_min": -1.561998110168532, "step_quality_max": 0.7607617569737637, "alignment_signed_mean": -0.2622832129049227, "alignment_abs_mean": 0.7999249594096006, "alignment_min": -0.9967817101228923, "alignment_max": 0.9967817101228923, "door_contact_steps": 15, "path_steps": 35}, {"path_found": true, "path_length": 1.487421138464054, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0020847320556640625, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.34890452992342524, "step_quality_min": -1.4364034459682724, "step_quality_max": 0.7045379990196678, "alignment_signed_mean": -0.40295785757485447, "alignment_abs_mean": 0.7958473025247649, "alignment_min": -0.9902111452192449, "alignment_max": 0.9902111452192449, "door_contact_steps": 15, "path_steps": 35}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677469103101632, 0.1330393146326472, 1.040928951669471, 0.15529401976341412, 0.7455606768934386, 0.6336406844733511, 0.13609749254141654], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.5090208866671648, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.002032041549682617, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.28577212373214667, "step_quality_min": -1.3376186307737314, "step_quality_max": 0.4486882939403749, "alignment_signed_mean": -0.44464795783147354, "alignment_abs_mean": 0.8242836669281323, "alignment_min": -0.989927980393895, "alignment_max": 0.9847554169089688, "door_contact_steps": 16, "path_steps": 36}, {"path_found": true, "path_length": 1.5090683965521214, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0019140243530273438, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.19797096864611724, "step_quality_min": -1.3713262362940912, "step_quality_max": 0.6945152528739347, "alignment_signed_mean": -0.463213532860526, "alignment_abs_mean": 0.7725712770074941, "alignment_min": -0.9913162088630664, "alignment_max": 0.9677096158130142, "door_contact_steps": 16, "path_steps": 36}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774691031016325, 0.1330393146326472, 1.040928951669471, 0.15529401976341412, 0.7455606768934386, 0.6336406844733511, 0.13609749254141654], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.4694253546911722, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0004181861877441406, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.3794221178271499, "step_quality_min": -1.5545039709001096, "step_quality_max": 0.6343957010848286, "alignment_signed_mean": -0.3326930235011133, "alignment_abs_mean": 0.7931277790108908, "alignment_min": -0.9968899165079281, "alignment_max": 0.9968899165079281, "door_contact_steps": 15, "path_steps": 35}, {"path_found": true, "path_length": 1.4693974953813729, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0012705326080322266, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.35892728664047624, "step_quality_min": -1.5747836756797775, "step_quality_max": 0.653989023242569, "alignment_signed_mean": -0.2850782402407976, "alignment_abs_mean": 0.7847369703329388, "alignment_min": -0.9884210755672447, "alignment_max": 0.9884210755672447, "door_contact_steps": 15, "path_steps": 35}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 31, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.30851131677627563, -0.05218694359064102, 1.2617627382278442, 0.11109050363302231, 0.9402369260787964, 0.3093380630016327, 0.08901261538267136], "right_arm_pose": [0.31760090589523315, -0.24899828433990479, 1.2516518831253052, -0.7825430631637573, -0.5327403545379639, -0.30719324946403503, 0.0971926599740982], "left_arm_joint_positions": [-0.20554327964782715, -0.07927438616752625, -0.23079416155815125, -1.8425605297088623, 0.6452997922897339, 1.7027978897094727, 0.5867825746536255], "right_arm_joint_positions": [0.1443312168121338, 0.06098559498786926, 0.08541801571846008, -1.6119089126586914, -0.44728124141693115, 1.1030313968658447, -0.2831343412399292], "pregrasp_goal_pose": [0.38774690268284895, 0.13303906638325502, 1.0409300501299932, 0.1552974788651645, 0.745560408094224, 0.6336410256197283, 0.13609342964330262], "pregrasp_position_error": 0.2989214428195652, "pregrasp_orientation_error_deg": 44.24558746746375}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 262, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 275, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774690268284895, 0.13303906638325502, 1.0409300501299932, 0.1552974788651645, 0.745560408094224, 0.6336410256197283, 0.13609342964330262], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.43604631171289, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01888895034790039, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.013743612394012379, "step_quality_min": -0.6999842207947037, "step_quality_max": 0.9599252857087398, "alignment_signed_mean": -0.6157481729879032, "alignment_abs_mean": 0.6157481729879032, "alignment_min": -0.9975538511526905, "alignment_max": -0.008561242247736581, "door_contact_steps": 14, "path_steps": 34}, {"path_found": true, "path_length": 1.434010323180713, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019297122955322266, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.03387174603526901, "step_quality_min": -0.6258112990618252, "step_quality_max": 0.8430841602511703, "alignment_signed_mean": -0.6203769557122913, "alignment_abs_mean": 0.6203769557122913, "alignment_min": -0.9769785342783772, "alignment_max": -0.03902462876556117, "door_contact_steps": 14, "path_steps": 34}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774690268284893, 0.13303906638325502, 1.0409300501299932, 0.1552974788651645, 0.745560408094224, 0.6336410256197283, 0.13609342964330262], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.4545008782744189, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019358158111572266, "door_quality": 0.051658064654605144, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0737972352208645, "step_quality_min": -0.5609154114678325, "step_quality_max": 0.829641727139517, "alignment_signed_mean": -0.4737708347863828, "alignment_abs_mean": 0.5131021532821638, "alignment_min": -0.9520446810963701, "alignment_max": 0.255653570222576, "door_contact_steps": 14, "path_steps": 35}, {"path_found": true, "path_length": 1.4545689401565574, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020115375518798828, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.0027276047072061532, "step_quality_min": -0.6106678104412273, "step_quality_max": 0.7697256552759091, "alignment_signed_mean": -0.5534643438781397, "alignment_abs_mean": 0.5573151022259472, "alignment_min": -0.9992740981291598, "alignment_max": 0.02909461862787927, "door_contact_steps": 14, "path_steps": 35}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774690268284897, 0.13303906638325502, 1.0409300501299932, 0.1552974788651645, 0.745560408094224, 0.6336410256197283, 0.13609342964330262], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.4174446945054773, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0007853507995605469, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.3629714345640227, "step_quality_min": -1.5107509622653916, "step_quality_max": 0.6784078998134526, "alignment_signed_mean": -0.3600475878330478, "alignment_abs_mean": 0.8244269913398679, "alignment_min": -0.9941797046747071, "alignment_max": 0.9941797046747071, "door_contact_steps": 16, "path_steps": 34}, {"path_found": true, "path_length": 1.4175083655525722, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.000885009765625, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.3319058766364518, "step_quality_min": -1.5483321845158404, "step_quality_max": 0.6648198345823919, "alignment_signed_mean": -0.3646624678703763, "alignment_abs_mean": 0.824396501484064, "alignment_min": -0.995793087849793, "alignment_max": 0.995793087849793, "door_contact_steps": 16, "path_steps": 34}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 32, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.3088317811489105, -0.05873671919107437, 1.2500983476638794, 0.11938194930553436, 0.9338908195495605, 0.3256520926952362, 0.08687134832143784], "right_arm_pose": [0.3221023678779602, -0.24853277206420898, 1.2458065748214722, 0.7657658457756042, 0.5479946732521057, 0.32296156883239746, -0.09487023204565048], "left_arm_joint_positions": [-0.21447181701660156, -0.0687396228313446, -0.24369069933891296, -1.863992691040039, 0.6805680990219116, 1.7060513496398926, 0.5666605234146118], "right_arm_joint_positions": [0.14954090118408203, 0.056898146867752075, 0.08860042691230774, -1.6382458209991455, -0.46322762966156006, 1.0987942218780518, -0.321557879447937], "pregrasp_goal_pose": [0.3877483978278674, 0.13303797691857996, 1.040929796038003, 0.15529706329556753, 0.7455611582434419, 0.6336401411023388, 0.136093912554081], "pregrasp_position_error": 0.2945451568864621, "pregrasp_orientation_error_deg": 42.19116963613479}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 272, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 275, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877483978278674, 0.13303797691857996, 1.040929796038003, 0.15529706329556753, 0.7455611582434419, 0.6336401411023388, 0.136093912554081], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.383456658472749, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01866769790649414, "door_quality": 0.01405663848795447, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.020080912125649244, "step_quality_min": -0.6427743910831842, "step_quality_max": 0.9406523343427502, "alignment_signed_mean": -0.5572876129663656, "alignment_abs_mean": 0.5773028296180783, "alignment_min": -0.9995337575908959, "alignment_max": 0.1220928215754464, "door_contact_steps": 14, "path_steps": 33}, {"path_found": true, "path_length": 1.3815514768058328, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019772052764892578, "door_quality": 0.007693942410524049, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.010991346300748642, "step_quality_min": -0.6124744490096063, "step_quality_max": 0.9584400614882148, "alignment_signed_mean": -0.6195605907908385, "alignment_abs_mean": 0.6195605907908385, "alignment_min": -0.9781898003779752, "alignment_max": -0.05361227255508268, "door_contact_steps": 14, "path_steps": 33}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677483978278674, 0.13303797691857996, 1.040929796038003, 0.15529706329556753, 0.7455611582434419, 0.6336401411023388, 0.136093912554081], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.4010027460756884, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.017709016799926758, "door_quality": 0.07975996630606147, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.11394280900865925, "step_quality_min": -0.6860291354151948, "step_quality_max": 0.7602915910568186, "alignment_signed_mean": -0.38068528880638236, "alignment_abs_mean": 0.4606147628535592, "alignment_min": -0.9290540147256676, "alignment_max": 0.29637931002298357, "door_contact_steps": 13, "path_steps": 34}, {"path_found": true, "path_length": 1.4008778848807248, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.018186092376708984, "door_quality": 0.09415450379945255, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.13450643399921794, "step_quality_min": -0.5971812139005582, "step_quality_max": 0.7344276973978532, "alignment_signed_mean": -0.44333397532492463, "alignment_abs_mean": 0.44650746958116977, "alignment_min": -0.9344775689602142, "alignment_max": 0.01951698967590801, "door_contact_steps": 13, "path_steps": 34}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077483978278674, 0.13303797691857996, 1.040929796038003, 0.15529706329556753, 0.7455611582434419, 0.6336401411023388, 0.136093912554081], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.3662061915148362, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.016643285751342773, "door_quality": 0.07353040211071385, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.10504343158673407, "step_quality_min": -0.6303536241167667, "step_quality_max": 0.9194084558287547, "alignment_signed_mean": -0.47240433067904014, "alignment_abs_mean": 0.5426468988558101, "alignment_min": -0.9885277239756499, "alignment_max": 0.39430050078286527, "door_contact_steps": 15, "path_steps": 33}, {"path_found": true, "path_length": 1.3662993798298009, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.018526554107666016, "door_quality": 0.07618456640605856, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.10883509486579795, "step_quality_min": -0.5925279261614598, "step_quality_max": 0.9160410907994636, "alignment_signed_mean": -0.5478572751503452, "alignment_abs_mean": 0.5478572751503452, "alignment_min": -0.9862880798054675, "alignment_max": -0.015877136557574292, "door_contact_steps": 15, "path_steps": 33}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474810600280762, "final_height": 1.0474810600280762, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474810600280762}], "score": 0.0007311503092447911}}
+{"frame_index": 33, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.30904051661491394, -0.06552386283874512, 1.2384783029556274, 0.1278117597103119, 0.9271174669265747, 0.3419358730316162, 0.08483711630105972], "right_arm_pose": [0.32672038674354553, -0.2479681819677353, 1.2400583028793335, 0.7484378218650818, 0.5626969337463379, 0.3387068808078766, -0.09214504808187485], "left_arm_joint_positions": [-0.2238471508026123, -0.056158751249313354, -0.25673267245292664, -1.8834140300750732, 0.7161914110183716, 1.7070705890655518, 0.5459607839584351], "right_arm_joint_positions": [0.1546621322631836, 0.0528889000415802, 0.09164121747016907, -1.6646456718444824, -0.47926652431488037, 1.0944209098815918, -0.35989487171173096], "pregrasp_goal_pose": [0.3877469258107519, 0.13303950956310637, 1.040931532762568, 0.15530239643228405, 0.7455601485344401, 0.6336413665095945, 0.13608765273729664], "pregrasp_position_error": 0.2909412966936948, "pregrasp_orientation_error_deg": 40.13760008563121}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 286, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 278, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877469258107519, 0.13303950956310637, 1.040931532762568, 0.15530239643228405, 0.7455601485344401, 0.6336413665095945, 0.13608765273729664], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.3323078670762267, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01750349998474121, "door_quality": 0.01298685015458432, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0185526430779776, "step_quality_min": -0.6742486865183315, "step_quality_max": 0.8745730279303402, "alignment_signed_mean": -0.49834467032880814, "alignment_abs_mean": 0.5638856889014452, "alignment_min": -0.9660368578225451, "alignment_max": 0.3758387858227119, "door_contact_steps": 13, "path_steps": 32}, {"path_found": true, "path_length": 1.3305212113292764, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020398855209350586, "door_quality": 0.058957797521246254, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0842254250303518, "step_quality_min": -0.6110425559558319, "step_quality_max": 0.8718907541241767, "alignment_signed_mean": -0.5052799318857192, "alignment_abs_mean": 0.5052799318857192, "alignment_min": -0.947840518060619, "alignment_max": -0.10843146883000682, "door_contact_steps": 13, "path_steps": 32}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774692581075186, 0.13303950956310637, 1.040931532762568, 0.15530239643228405, 0.7455601485344401, 0.6336413665095945, 0.13608765273729664], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.349075064033967, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02402663230895996, "door_quality": 0.0024734736566242067, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0035335337951774384, "step_quality_min": -0.6943714251102342, "step_quality_max": 0.6519670605395472, "alignment_signed_mean": -0.6155640232029039, "alignment_abs_mean": 0.6155640232029039, "alignment_min": -0.9974001553946666, "alignment_max": -0.2747229935058771, "door_contact_steps": 12, "path_steps": 32}, {"path_found": true, "path_length": 1.3490239062973814, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020656347274780273, "door_quality": 0.06846655463726345, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09780936376751921, "step_quality_min": -0.6825835752493381, "step_quality_max": 0.6965448993828216, "alignment_signed_mean": -0.4780475426902146, "alignment_abs_mean": 0.4780475426902146, "alignment_min": -0.9408155717209938, "alignment_max": -0.09035893878913404, "door_contact_steps": 12, "path_steps": 32}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077469258107519, 0.13303950956310637, 1.040931532762568, 0.15530239643228405, 0.7455601485344401, 0.6336413665095945, 0.13608765273729664], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.316301366784459, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01740407943725586, "door_quality": 0.01799670775130717, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.02570958250186739, "step_quality_min": -0.7003296676035387, "step_quality_max": 0.627527764854188, "alignment_signed_mean": -0.558303420304617, "alignment_abs_mean": 0.5674622436534492, "alignment_min": -0.9923100469256213, "alignment_max": 0.05907441059996778, "door_contact_steps": 14, "path_steps": 32}, {"path_found": true, "path_length": 1.3164034649996215, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022003650665283203, "door_quality": 0.052874670793485276, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07553524399069325, "step_quality_min": -0.6415632556414818, "step_quality_max": 0.8848501671199611, "alignment_signed_mean": -0.55764176488448, "alignment_abs_mean": 0.55764176488448, "alignment_min": -0.9821093318771889, "alignment_max": -0.01918291430760889, "door_contact_steps": 15, "path_steps": 32}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 34, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3094429671764374, -0.07225064933300018, 1.22667396068573, 0.13624390959739685, 0.9199605584144592, 0.35816746950149536, 0.08262178301811218], "right_arm_pose": [0.33137479424476624, -0.2473772168159485, 1.23458731174469, 0.7306129336357117, 0.5768877267837524, 0.35422632098197937, -0.08904528617858887], "left_arm_joint_positions": [-0.2335827350616455, -0.041223734617233276, -0.26943036913871765, -1.9005424976348877, 0.7519193887710571, 1.705956220626831, 0.5250817537307739], "right_arm_joint_positions": [0.15983271598815918, 0.04880860447883606, 0.09466364979743958, -1.6911485195159912, -0.49522364139556885, 1.0901334285736084, -0.398351788520813], "pregrasp_goal_pose": [0.387745647847045, 0.13303967821567964, 1.040930899853084, 0.1552968654764597, 0.7455640029625664, 0.6336367968845351, 0.13609412439016985], "pregrasp_position_error": 0.287708034355538, "pregrasp_orientation_error_deg": 38.09789623400988}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 289, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 280, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.387745647847045, 0.13303967821567964, 1.040930899853084, 0.1552968654764597, 0.7455640029625664, 0.6336367968845351, 0.13609412439016985], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.2825154914964003, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021950483322143555, "door_quality": 0.030807138623119373, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04401019803302768, "step_quality_min": -0.6801658189667392, "step_quality_max": 0.8119105566197824, "alignment_signed_mean": -0.5947097747821217, "alignment_abs_mean": 0.5947097747821217, "alignment_min": -0.9901345800586241, "alignment_max": -0.10579758377615836, "door_contact_steps": 13, "path_steps": 31}, {"path_found": true, "path_length": 1.280817594311702, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022057056427001953, "door_quality": 0.060073642323109196, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08581948903301315, "step_quality_min": -0.7706396752589815, "step_quality_max": 0.8326402493715961, "alignment_signed_mean": -0.5588588902066867, "alignment_abs_mean": 0.5588588902066867, "alignment_min": -0.9805344524340284, "alignment_max": -0.07727081969972055, "door_contact_steps": 13, "path_steps": 31}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.367745647847045, 0.13303967821567964, 1.040930899853084, 0.1552968654764597, 0.7455640029625664, 0.6336367968845351, 0.13609412439016985], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.2985843495642153, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023927688598632812, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.008150689934782436, "step_quality_min": -0.812586302367589, "step_quality_max": 0.5150971747220656, "alignment_signed_mean": -0.6342756400088113, "alignment_abs_mean": 0.6342756400088113, "alignment_min": -0.9641924949883115, "alignment_max": -0.4045658111677159, "door_contact_steps": 11, "path_steps": 31}, {"path_found": true, "path_length": 1.2985713666672296, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022085905075073242, "door_quality": 0.028816808815498765, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04116686973642681, "step_quality_min": -0.7267099886307324, "step_quality_max": 0.5236108233455298, "alignment_signed_mean": -0.6093638916518417, "alignment_abs_mean": 0.6093638916518417, "alignment_min": -0.917920909696543, "alignment_max": -0.40223530435389426, "door_contact_steps": 11, "path_steps": 31}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774564784704503, 0.13303967821567964, 1.040930899853084, 0.1552968654764597, 0.7455640029625664, 0.6336367968845351, 0.13609412439016985], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.2676373650774695, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021283388137817383, "door_quality": 0.029553130440752716, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04221875777250388, "step_quality_min": -0.8124091023059266, "step_quality_max": 0.7001354190268678, "alignment_signed_mean": -0.5395970965631467, "alignment_abs_mean": 0.5395970965631467, "alignment_min": -0.9719015858199986, "alignment_max": -0.08127881459466448, "door_contact_steps": 13, "path_steps": 31}, {"path_found": true, "path_length": 1.2676267292632903, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01647329330444336, "door_quality": 0.04844320408426946, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0692045772632421, "step_quality_min": -0.79546555270957, "step_quality_max": 0.6508611101217014, "alignment_signed_mean": -0.44758793652896856, "alignment_abs_mean": 0.4568874156234155, "alignment_min": -0.99071312807184, "alignment_max": 0.05719179643084796, "door_contact_steps": 13, "path_steps": 31}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 35, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3097822070121765, -0.07876398414373398, 1.2151851654052734, 0.14443476498126984, 0.9125400185585022, 0.3740648329257965, 0.0805283635854721], "right_arm_pose": [0.33606240153312683, -0.24666520953178406, 1.229142189025879, 0.7122811675071716, 0.5904488563537598, 0.3697529733181, -0.08548922091722488], "left_arm_joint_positions": [-0.24340271949768066, -0.024725407361984253, -0.28137990832328796, -1.9155690670013428, 0.7871497869491577, 1.7026419639587402, 0.5045427083969116], "right_arm_joint_positions": [0.16498565673828125, 0.044556885957717896, 0.09763625264167786, -1.7173678874969482, -0.5112076997756958, 1.085824728012085, -0.4366658926010132], "pregrasp_goal_pose": [0.3877469332308612, 0.13303954950146618, 1.040930920677827, 0.15529863988722528, 0.7455618476134215, 0.6336393425553813, 0.13609205486883974], "pregrasp_position_error": 0.2851381721279715, "pregrasp_orientation_error_deg": 36.10720272808489}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 280, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877469332308612, 0.13303954950146618, 1.040930920677827, 0.15529863988722528, 0.7455618476134215, 0.6336393425553813, 0.13609205486883974], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.235105463560699, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021257400512695312, "door_quality": 0.06233368552965627, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08904812218522325, "step_quality_min": -0.8934312760665848, "step_quality_max": 0.6382040417698848, "alignment_signed_mean": -0.572958530319026, "alignment_abs_mean": 0.572958530319026, "alignment_min": -0.9993310480222358, "alignment_max": -0.09133066176498275, "door_contact_steps": 12, "path_steps": 30}, {"path_found": true, "path_length": 1.233388787993269, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01790165901184082, "door_quality": 0.07722722971120011, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.11032461387314302, "step_quality_min": -0.8988100180968936, "step_quality_max": 0.5832952335516257, "alignment_signed_mean": -0.4689508228477127, "alignment_abs_mean": 0.47990345963673153, "alignment_min": -0.9895437070130613, "alignment_max": 0.06243002969740672, "door_contact_steps": 12, "path_steps": 30}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774693323086116, 0.13303954950146618, 1.040930920677827, 0.15529863988722528, 0.7455618476134215, 0.6336393425553813, 0.13609205486883974], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.2506348507197604, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022613048553466797, "door_quality": 0.07582385658622523, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.10831979512317891, "step_quality_min": -0.7114785910040355, "step_quality_max": 0.5895505099655222, "alignment_signed_mean": -0.524159411192267, "alignment_abs_mean": 0.524159411192267, "alignment_min": -0.8986107995197118, "alignment_max": -0.13505022269436148, "door_contact_steps": 12, "path_steps": 31}, {"path_found": true, "path_length": 1.2506627299998099, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019542932510375977, "door_quality": 0.07352760044080378, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.10503942920114827, "step_quality_min": -0.7011173186364474, "step_quality_max": 0.5401796275522237, "alignment_signed_mean": -0.567740870821666, "alignment_abs_mean": 0.567740870821666, "alignment_min": -0.8980130796517567, "alignment_max": -0.31867602758312, "door_contact_steps": 11, "path_steps": 31}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077469332308612, 0.13303954950146618, 1.040930920677827, 0.15529863988722528, 0.7455618476134215, 0.6336393425553813, 0.13609205486883974], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.221124311778838, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01682591438293457, "door_quality": 0.0915799192222334, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.130828456031762, "step_quality_min": -0.8347000104232392, "step_quality_max": 0.711685856576967, "alignment_signed_mean": -0.4506885094071047, "alignment_abs_mean": 0.46633683987488106, "alignment_min": -0.9802062970117801, "alignment_max": 0.09388998280665792, "door_contact_steps": 13, "path_steps": 30}, {"path_found": true, "path_length": 1.2210207352979334, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.017059326171875, "door_quality": 0.09561412313337357, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.13659160447624796, "step_quality_min": -0.8330558152513948, "step_quality_max": 0.6696309296148755, "alignment_signed_mean": -0.43895644267051614, "alignment_abs_mean": 0.43895644267051614, "alignment_min": -0.9706304427370553, "alignment_max": -0.05424671797794875, "door_contact_steps": 13, "path_steps": 30}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 36, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.31010857224464417, -0.08418735861778259, 1.2053405046463013, 0.1515621691942215, 0.9056099653244019, 0.3881870210170746, 0.07880602031946182], "right_arm_pose": [0.34084123373031616, -0.24613581597805023, 1.2239127159118652, 0.6934011578559875, 0.6035635471343994, 0.3850235044956207, -0.08162634819746017], "left_arm_joint_positions": [-0.25232815742492676, -0.009228438138961792, -0.2913629710674286, -1.9271037578582764, 0.8182684183120728, 1.6979694366455078, 0.48673689365386963], "right_arm_joint_positions": [0.17019367218017578, 0.040475159883499146, 0.10079720616340637, -1.7438979148864746, -0.5272132158279419, 1.0815601348876953, -0.4750326871871948], "pregrasp_goal_pose": [0.3877482531057666, 0.1330377446787271, 1.0409314220632373, 0.1553012449796639, 0.7455617419159378, 0.633639485769919, 0.13608899430986918], "pregrasp_position_error": 0.28327550543984736, "pregrasp_orientation_error_deg": 34.34461716706042}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 280, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877482531057666, 0.1330377446787271, 1.0409314220632373, 0.1553012449796639, 0.7455617419159378, 0.633639485769919, 0.13608899430986918], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1946151638858205, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02179241180419922, "door_quality": 0.0534659276365582, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07637989662365458, "step_quality_min": -0.7462072287463373, "step_quality_max": 0.5658669838313681, "alignment_signed_mean": -0.5039399961609553, "alignment_abs_mean": 0.5039399961609553, "alignment_min": -0.918026673381745, "alignment_max": -0.23806601315517104, "door_contact_steps": 10, "path_steps": 29}, {"path_found": true, "path_length": 1.1929136987275375, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.018180370330810547, "door_quality": 0.06885143642586274, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09835919489408963, "step_quality_min": -0.7213391840707257, "step_quality_max": 0.5550151163943182, "alignment_signed_mean": -0.5239361584428524, "alignment_abs_mean": 0.5239361584428524, "alignment_min": -0.9295626868818748, "alignment_max": -0.24912390380721733, "door_contact_steps": 11, "path_steps": 29}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677482531057666, 0.1330377446787271, 1.0409314220632373, 0.1553012449796639, 0.7455617419159378, 0.633639485769919, 0.13608899430986918], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.209903109217282, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023255586624145508, "door_quality": 0.05480494986683668, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0782927855240524, "step_quality_min": -0.5239429834408721, "step_quality_max": 0.5739745247141089, "alignment_signed_mean": -0.5389696426736961, "alignment_abs_mean": 0.5389696426736961, "alignment_min": -0.8397209294617581, "alignment_max": -0.18420071016968953, "door_contact_steps": 11, "path_steps": 30}, {"path_found": true, "path_length": 1.2098359004316992, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021660327911376953, "door_quality": 0.059449140297424805, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08492734328203544, "step_quality_min": -0.516748126363989, "step_quality_max": 0.588917298348279, "alignment_signed_mean": -0.5176241746876706, "alignment_abs_mean": 0.5176241746876706, "alignment_min": -0.8372932741324519, "alignment_max": -0.13113524898126122, "door_contact_steps": 11, "path_steps": 30}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077482531057666, 0.1330377446787271, 1.0409314220632373, 0.1553012449796639, 0.7455617419159378, 0.633639485769919, 0.13608899430986918], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1811563433753443, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01788163185119629, "door_quality": 0.07968062822510978, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.11382946889301397, "step_quality_min": -0.6736809977123384, "step_quality_max": 0.5830029624377503, "alignment_signed_mean": -0.4835932280096562, "alignment_abs_mean": 0.5013049987922032, "alignment_min": -0.9454096693786297, "alignment_max": 0.09387238514749896, "door_contact_steps": 12, "path_steps": 29}, {"path_found": true, "path_length": 1.181167434260678, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.017989397048950195, "door_quality": 0.07895719053340144, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.11279598647628779, "step_quality_min": -0.6858073896543346, "step_quality_max": 0.5957820454929479, "alignment_signed_mean": -0.4865208185085072, "alignment_abs_mean": 0.4865208185085072, "alignment_min": -0.9432653215348132, "alignment_max": -0.06331370289414759, "door_contact_steps": 12, "path_steps": 29}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 37, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.31044232845306396, -0.08881139010190964, 1.1974302530288696, 0.1574038714170456, 0.8997762203216553, 0.39950597286224365, 0.07759974151849747], "right_arm_pose": [0.34560346603393555, -0.24521243572235107, 1.2188647985458374, 0.6741894483566284, 0.6159411668777466, 0.4001438617706299, -0.0772661417722702], "left_arm_joint_positions": [-0.2596869468688965, 0.00434306263923645, -0.2991447150707245, -1.9349982738494873, 0.8432728052139282, 1.693324327468872, 0.4725860357284546], "right_arm_joint_positions": [0.17532682418823242, 0.0360737144947052, 0.10383108258247375, -1.7702345848083496, -0.5430213212966919, 1.0774097442626953, -0.513374924659729], "pregrasp_goal_pose": [0.38774657236913457, 0.13303966468953543, 1.0409311353423676, 0.15530225742886608, 0.7455598092242346, 0.6336417642101331, 0.13608781854262866], "pregrasp_position_error": 0.2822867522151291, "pregrasp_orientation_error_deg": 32.932758375821905}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 284, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774657236913457, 0.13303966468953543, 1.0409311353423676, 0.15530225742886608, 0.7455598092242346, 0.6336417642101331, 0.13608781854262866], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1629851716448818, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024097442626953125, "door_quality": 0.04462181662402832, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06374545232004046, "step_quality_min": -0.8706724832116123, "step_quality_max": 0.5630475467997135, "alignment_signed_mean": -0.5248021271727532, "alignment_abs_mean": 0.5248021271727532, "alignment_min": -0.9407012986496538, "alignment_max": -0.2603886392924485, "door_contact_steps": 11, "path_steps": 29}, {"path_found": true, "path_length": 1.161358399640804, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019001007080078125, "door_quality": 0.0669254279113731, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09560775415910444, "step_quality_min": -0.8321145379232897, "step_quality_max": 0.5746729523979731, "alignment_signed_mean": -0.4732554496681278, "alignment_abs_mean": 0.4732554496681278, "alignment_min": -0.9118511276811462, "alignment_max": -0.18293874503892193, "door_contact_steps": 11, "path_steps": 29}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774657236913455, 0.13303966468953543, 1.0409311353423676, 0.15530225742886608, 0.7455598092242346, 0.6336417642101331, 0.13608781854262866], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1782277798104077, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022167205810546875, "door_quality": 0.05406491147951632, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07723558782788047, "step_quality_min": -0.56587928719369, "step_quality_max": 0.5742900351108637, "alignment_signed_mean": -0.5369425231069891, "alignment_abs_mean": 0.5369425231069891, "alignment_min": -0.8224684578511059, "alignment_max": -0.2145712477855244, "door_contact_steps": 9, "path_steps": 29}, {"path_found": true, "path_length": 1.1781579053129332, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02424907684326172, "door_quality": 0.043547623826276666, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.062210891180395245, "step_quality_min": -0.5434507181115547, "step_quality_max": 0.5291014701791225, "alignment_signed_mean": -0.5720555485498108, "alignment_abs_mean": 0.5720555485498108, "alignment_min": -0.819712321095321, "alignment_max": -0.2943515625260187, "door_contact_steps": 9, "path_steps": 29}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077465723691346, 0.13303966468953543, 1.0409311353423676, 0.15530225742886608, 0.7455598092242346, 0.6336417642101331, 0.13608781854262866], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1499960731331536, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021082401275634766, "door_quality": 0.04485741290739594, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06408201843913706, "step_quality_min": -1.0375813867777244, "step_quality_max": 0.5841779312768928, "alignment_signed_mean": -0.5657953975696064, "alignment_abs_mean": 0.5657953975696064, "alignment_min": -0.993419264782496, "alignment_max": -0.1485855175657316, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.149941327756152, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.018950700759887695, "door_quality": 0.09413655986796675, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.13448079981138109, "step_quality_min": -0.7721211124180596, "step_quality_max": 0.5840850468002887, "alignment_signed_mean": -0.47551463845907777, "alignment_abs_mean": 0.47551463845907777, "alignment_min": -0.9627672103374949, "alignment_max": -0.17782706244631047, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 38, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31064650416374207, -0.09212397038936615, 1.1918052434921265, 0.16156736016273499, 0.8954775333404541, 0.40758010745048523, 0.0767754539847374], "right_arm_pose": [0.35042494535446167, -0.2442353367805481, 1.2141295671463013, 0.6544986963272095, 0.6276834607124329, 0.41516634821891785, -0.07267674803733826], "left_arm_joint_positions": [-0.2650878429412842, 0.01417425274848938, -0.30452463030815125, -1.940335988998413, 0.8610745668411255, 1.6894657611846924, 0.4624119997024536], "right_arm_joint_positions": [0.18046998977661133, 0.03208211064338684, 0.10688760876655579, -1.7966225147247314, -0.5592056512832642, 1.0729966163635254, -0.5518306493759155], "pregrasp_goal_pose": [0.3877456891088609, 0.13303997092794662, 1.040930717565128, 0.15529831702773914, 0.7455615661005628, 0.6336396709971498, 0.13609243630948664], "pregrasp_position_error": 0.2817910704093451, "pregrasp_orientation_error_deg": 31.929024053722095}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877456891088609, 0.13303997092794662, 1.040930717565128, 0.15529831702773914, 0.7455615661005628, 0.6336396709971498, 0.13609243630948664], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1410519398790966, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024227142333984375, "door_quality": 0.030784271373972934, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04397753053424705, "step_quality_min": -0.5822079689563466, "step_quality_max": 0.5152022817528713, "alignment_signed_mean": -0.5659673121223904, "alignment_abs_mean": 0.5659673121223904, "alignment_min": -0.8839482973433853, "alignment_max": -0.2867877197795912, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1394897452794597, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023436546325683594, "door_quality": 0.04257772185808779, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06082531694012541, "step_quality_min": -0.6116431939671716, "step_quality_max": 0.5378397016332295, "alignment_signed_mean": -0.5385332775569054, "alignment_abs_mean": 0.5385332775569054, "alignment_min": -0.8920448969674074, "alignment_max": -0.30702627199516724, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677456891088609, 0.13303997092794662, 1.040930717565128, 0.15529831702773914, 0.7455615661005628, 0.6336396709971498, 0.13609243630948664], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1563080816410127, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022916555404663086, "door_quality": 0.04854756573547907, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06935366533639867, "step_quality_min": -0.5262924889663956, "step_quality_max": 0.5813346689665421, "alignment_signed_mean": -0.5386721408077856, "alignment_abs_mean": 0.5386721408077856, "alignment_min": -0.845815897625021, "alignment_max": -0.14627942158574636, "door_contact_steps": 10, "path_steps": 29}, {"path_found": true, "path_length": 1.1561898580165837, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02120518684387207, "door_quality": 0.0564482537420891, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08064036248869873, "step_quality_min": -0.4887475916355785, "step_quality_max": 0.5646185043549354, "alignment_signed_mean": -0.5304277102629266, "alignment_abs_mean": 0.5304277102629266, "alignment_min": -0.8372307755926507, "alignment_max": -0.22540181721458089, "door_contact_steps": 10, "path_steps": 29}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774568910886094, 0.13303997092794662, 1.040930717565128, 0.15529831702773914, 0.7455615661005628, 0.6336396709971498, 0.13609243630948664], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.128283337225134, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021674394607543945, "door_quality": 0.055564885002956074, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07937840714708011, "step_quality_min": -0.8268500471269761, "step_quality_max": 0.5645486839459762, "alignment_signed_mean": -0.4951048442841928, "alignment_abs_mean": 0.4951048442841928, "alignment_min": -0.9393927882304859, "alignment_max": -0.1784725150235369, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1282306507527495, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.016645431518554688, "door_quality": 0.08634693384747402, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.12335276263924862, "step_quality_min": -0.6168809620304716, "step_quality_max": 0.60923896098575, "alignment_signed_mean": -0.43189905020199676, "alignment_abs_mean": 0.43189905020199676, "alignment_min": -0.9281971911215091, "alignment_max": -0.005160557009726058, "door_contact_steps": 12, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 39, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3108140230178833, -0.09407655894756317, 1.1884956359863281, 0.1640499234199524, 0.8928160667419434, 0.41246965527534485, 0.07639368623495102], "right_arm_pose": [0.3552706241607666, -0.2432771921157837, 1.2094306945800781, 0.6343576312065125, 0.6388236880302429, 0.43001869320869446, -0.06766510009765625], "left_arm_joint_positions": [-0.2683875560760498, 0.020526200532913208, -0.3077063262462616, -1.9430623054504395, 0.8717762231826782, 1.6869611740112305, 0.45636165142059326], "right_arm_joint_positions": [0.1856250762939453, 0.027862101793289185, 0.10990121960639954, -1.8230528831481934, -0.5752476453781128, 1.0687310695648193, -0.5902472734451294], "pregrasp_goal_pose": [0.38774680308007403, 0.13303956923264681, 1.0409305297058344, 0.1552996839271771, 0.7455595641204836, 0.6336420334511514, 0.13609084452850936], "pregrasp_position_error": 0.2815596720399432, "pregrasp_orientation_error_deg": 31.32060803429139}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774680308007403, 0.13303956923264681, 1.0409305297058344, 0.1552996839271771, 0.7455595641204836, 0.6336420334511514, 0.13609084452850936], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1278350021845975, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02344202995300293, "door_quality": 0.06335557713005627, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09050796732865182, "step_quality_min": -0.67758985342973, "step_quality_max": 0.5658778174860839, "alignment_signed_mean": -0.5252592451967291, "alignment_abs_mean": 0.5252592451967291, "alignment_min": -0.9134033729976158, "alignment_max": -0.20282126260620145, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.126349921198141, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023199796676635742, "door_quality": 0.06795083104914397, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09707261578449139, "step_quality_min": -0.6974828190116095, "step_quality_max": 0.5745317701738133, "alignment_signed_mean": -0.5234439490530954, "alignment_abs_mean": 0.5234439490530954, "alignment_min": -0.909212755345294, "alignment_max": -0.19233405379401938, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.367746803080074, 0.13303956923264681, 1.0409305297058344, 0.1552996839271771, 0.7455595641204836, 0.6336420334511514, 0.13609084452850936], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1430280552958119, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02175116539001465, "door_quality": 0.02460505777573425, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.035150082536763216, "step_quality_min": -0.49741712627602735, "step_quality_max": 0.5636679428450191, "alignment_signed_mean": -0.5524620499261274, "alignment_abs_mean": 0.5524620499261274, "alignment_min": -0.8443305835386986, "alignment_max": -0.21110498029394756, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1429497509798427, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019738197326660156, "door_quality": 0.025730106585783615, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.03675729512254802, "step_quality_min": -0.5022820689590894, "step_quality_max": 0.5732516649273668, "alignment_signed_mean": -0.5285170922897986, "alignment_abs_mean": 0.5285170922897986, "alignment_min": -0.8435617449364103, "alignment_max": -0.1737721547943183, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774680308007405, 0.13303956923264681, 1.0409305297058344, 0.1552996839271771, 0.7455595641204836, 0.6336420334511514, 0.13609084452850936], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1150936685249533, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01840496063232422, "door_quality": 0.06991564556368021, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0998794936624003, "step_quality_min": -0.6235650383102171, "step_quality_max": 0.5931032036588396, "alignment_signed_mean": -0.46295198799748055, "alignment_abs_mean": 0.5013936897717718, "alignment_min": -0.9385924501365794, "alignment_max": 0.18836433869402663, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1151177515475397, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022980928421020508, "door_quality": 0.05767858028948597, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08239797184212282, "step_quality_min": -0.597706342618779, "step_quality_max": 0.5384850845992164, "alignment_signed_mean": -0.5155389167921118, "alignment_abs_mean": 0.5155389167921118, "alignment_min": -0.919586831706854, "alignment_max": -0.2613074229952347, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 40, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31080320477485657, -0.09414006769657135, 1.1878148317337036, 0.1643810272216797, 0.8926629424095154, 0.4127642810344696, 0.0758776143193245], "right_arm_pose": [0.3556833565235138, -0.24323496222496033, 1.2088367938995361, 0.6307106614112854, 0.6414750814437866, 0.43176156282424927, -0.06554176658391953], "left_arm_joint_positions": [-0.2684037685394287, 0.021354228258132935, -0.3077525794506073, -1.9435031414031982, 0.8717254400253296, 1.6868112087249756, 0.4564312696456909], "right_arm_joint_positions": [0.18568706512451172, 0.028547316789627075, 0.10999873280525208, -1.823434591293335, -0.5753134489059448, 1.0681648254394531, -0.5959616899490356], "pregrasp_goal_pose": [0.3877467898463952, 0.13303944051409378, 1.040931278279803, 0.1552999155835077, 0.7455616036669174, 0.6336396385238738, 0.13609055752955188], "pregrasp_position_error": 0.2812572177024896, "pregrasp_orientation_error_deg": 31.297416853338856}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877467898463952, 0.13303944051409378, 1.040931278279803, 0.1552999155835077, 0.7455616036669174, 0.6336396385238738, 0.13609055752955188], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1268400726972987, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024235010147094727, "door_quality": 0.0566779494852207, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08096849926460101, "step_quality_min": -0.6900285252601837, "step_quality_max": 0.5748946574104687, "alignment_signed_mean": -0.5466634945928661, "alignment_abs_mean": 0.5466634945928661, "alignment_min": -0.909885950738339, "alignment_max": -0.22282533507900368, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1253132310267555, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024035215377807617, "door_quality": 0.0640065156228623, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09143787946123187, "step_quality_min": -0.7091066846276745, "step_quality_max": 0.5674642133722494, "alignment_signed_mean": -0.5302354478815425, "alignment_abs_mean": 0.5302354478815425, "alignment_min": -0.8959830186855303, "alignment_max": -0.23856756686678005, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677467898463952, 0.13303944051409378, 1.040931278279803, 0.1552999155835077, 0.7455616036669174, 0.6336396385238738, 0.13609055752955188], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1419989295943962, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02049732208251953, "door_quality": 0.027140951650538467, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.03877278807219781, "step_quality_min": -0.4971918766583819, "step_quality_max": 0.5857699699866342, "alignment_signed_mean": -0.5308310136037154, "alignment_abs_mean": 0.5308310136037154, "alignment_min": -0.8482044283727976, "alignment_max": -0.12016900993011058, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1420574224666016, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022916078567504883, "door_quality": 0.004709859565284484, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0067283708075492644, "step_quality_min": -0.5162512253482652, "step_quality_max": 0.5770084681105793, "alignment_signed_mean": -0.5656075706239142, "alignment_abs_mean": 0.5656075706239142, "alignment_min": -0.8418301330013498, "alignment_max": -0.22184070845833428, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774678984639523, 0.13303944051409378, 1.040931278279803, 0.1552999155835077, 0.7455616036669174, 0.6336396385238738, 0.13609055752955188], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.114159645905544, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022434234619140625, "door_quality": 0.07066312456290876, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.10094732080415537, "step_quality_min": -0.6162293683212141, "step_quality_max": 0.5644969009306134, "alignment_signed_mean": -0.48740010991969174, "alignment_abs_mean": 0.48740010991969174, "alignment_min": -0.931779273978837, "alignment_max": -0.23197029881372935, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1141532192211614, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024100542068481445, "door_quality": 0.0567659698372498, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08109424262464257, "step_quality_min": -0.6272024042001412, "step_quality_max": 0.5558031437924426, "alignment_signed_mean": -0.48974856471958134, "alignment_abs_mean": 0.48974856471958134, "alignment_min": -0.9225300828354603, "alignment_max": -0.22339230868671317, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481894493103, "final_height": 1.047481894493103, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481894493103}], "score": 0.0007339318593343093}}
+{"frame_index": 41, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3107945919036865, -0.09407712519168854, 1.1877106428146362, 0.16438820958137512, 0.8926730155944824, 0.4127616584300995, 0.07575811445713043], "right_arm_pose": [0.3555827736854553, -0.24316444993019104, 1.2089465856552124, 0.6321018934249878, 0.6402369141578674, 0.43142837285995483, -0.06643408536911011], "left_arm_joint_positions": [-0.2683868408203125, 0.021417886018753052, -0.3077404201030731, -1.9435806274414062, 0.8716827630996704, 1.6868178844451904, 0.4564012289047241], "right_arm_joint_positions": [0.18565869331359863, 0.028517037630081177, 0.10998132824897766, -1.823335886001587, -0.5751475095748901, 1.0684890747070312, -0.5922492742538452], "pregrasp_goal_pose": [0.3877468024635472, 0.1330398090132699, 1.0409297645080053, 0.15529638027451462, 0.7455610496138804, 0.6336402637590947, 0.1360947159723241], "pregrasp_position_error": 0.2811554209848612, "pregrasp_orientation_error_deg": 31.301592803742718}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877468024635472, 0.1330398090132699, 1.0409297645080053, 0.15529638027451462, 0.7455610496138804, 0.6336402637590947, 0.1360947159723241], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1267593384008128, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023639440536499023, "door_quality": 0.06735498650931901, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09622140929902716, "step_quality_min": -0.6932214043151818, "step_quality_max": 0.5571198280879944, "alignment_signed_mean": -0.5598365823172469, "alignment_abs_mean": 0.5598365823172469, "alignment_min": -0.9076970156798612, "alignment_max": -0.23259219714547716, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1253419890748773, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023712635040283203, "door_quality": 0.07007430189657987, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.10010614556654268, "step_quality_min": -0.7254310536688039, "step_quality_max": 0.589036617594823, "alignment_signed_mean": -0.5270644699638825, "alignment_abs_mean": 0.5270644699638825, "alignment_min": -0.8996801715372053, "alignment_max": -0.16551465830274073, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677468024635472, 0.1330398090132699, 1.0409297645080053, 0.15529638027451462, 0.7455610496138804, 0.6336402637590947, 0.1360947159723241], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1420077517493645, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022176742553710938, "door_quality": 0.016864648157472087, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.024092354510674412, "step_quality_min": -0.5012943452880014, "step_quality_max": 0.5962272612375275, "alignment_signed_mean": -0.5374701857148735, "alignment_abs_mean": 0.5374701857148735, "alignment_min": -0.8456106522261835, "alignment_max": -0.09692193661021406, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1419332477097364, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02230238914489746, "door_quality": 0.01851419095910922, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.026448844227298887, "step_quality_min": -0.47722965995610134, "step_quality_max": 0.5753182382703724, "alignment_signed_mean": -0.5556241676987866, "alignment_abs_mean": 0.5556241676987866, "alignment_min": -0.8453904940327343, "alignment_max": -0.1548085355158137, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077468024635472, 0.1330398090132699, 1.0409297645080053, 0.15529638027451462, 0.7455610496138804, 0.6336402637590947, 0.1360947159723241], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1140360066667678, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02329730987548828, "door_quality": 0.0630174142018202, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09002487743117171, "step_quality_min": -0.6476014683709552, "step_quality_max": 0.5676155620820992, "alignment_signed_mean": -0.4869092405994666, "alignment_abs_mean": 0.4869092405994666, "alignment_min": -0.9285044624932367, "alignment_max": -0.18657467066860559, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1140218850460541, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.016764163970947266, "door_quality": 0.09493255524795753, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.13561793606851077, "step_quality_min": -0.627933744467834, "step_quality_max": 0.5907662734302437, "alignment_signed_mean": -0.3920415960742543, "alignment_abs_mean": 0.40452505863289356, "alignment_min": -0.9306330619957704, "alignment_max": 0.05929644715353868, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 42, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.3108345866203308, -0.0948181301355362, 1.1870543956756592, 0.16505037248134613, 0.8917477130889893, 0.4144316613674164, 0.07609714567661285], "right_arm_pose": [0.35955360531806946, -0.2426013946533203, 1.2046493291854858, 0.6196963787078857, 0.6447746157646179, 0.4425794184207916, -0.06607375293970108], "left_arm_joint_positions": [-0.26966404914855957, 0.022936850786209106, -0.3089239299297333, -1.9442617893218994, 0.8758958578109741, 1.6859047412872314, 0.4540520906448364], "right_arm_joint_positions": [0.1907634735107422, 0.024030238389968872, 0.11290696263313293, -1.8493194580078125, -0.5895031690597534, 1.0672249794006348, -0.6130017042160034], "pregrasp_goal_pose": [0.38774598668439114, 0.1330395237497263, 1.0409315626056623, 0.1553012206545936, 0.7455621957488269, 0.6336389523033912, 0.136089019605705], "pregrasp_position_error": 0.281400704047293, "pregrasp_orientation_error_deg": 31.080730302707305}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774598668439114, 0.1330395237497263, 1.0409315626056623, 0.1553012206545936, 0.7455621957488269, 0.6336389523033912, 0.136089019605705], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1225060796950102, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0242764949798584, "door_quality": 0.06577977205710167, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09397110293871669, "step_quality_min": -0.7259252711823796, "step_quality_max": 0.5549488281432562, "alignment_signed_mean": -0.5417993055345555, "alignment_abs_mean": 0.5417993055345555, "alignment_min": -0.9231477402246675, "alignment_max": -0.2606133345644805, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.121070496995974, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023000240325927734, "door_quality": 0.05413701438311599, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07733859197587999, "step_quality_min": -0.7514821421639648, "step_quality_max": 0.5677104009182885, "alignment_signed_mean": -0.5263453010078875, "alignment_abs_mean": 0.5263453010078875, "alignment_min": -0.9144915328034119, "alignment_max": -0.2338318760237915, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677459866843911, 0.1330395237497263, 1.0409315626056623, 0.1553012206545936, 0.7455621957488269, 0.6336389523033912, 0.136089019605705], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.137717633240607, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023155689239501953, "door_quality": 0.020207471334721283, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.028867816192458977, "step_quality_min": -0.4961798154956407, "step_quality_max": 0.550855838630504, "alignment_signed_mean": -0.5810527771074916, "alignment_abs_mean": 0.5810527771074916, "alignment_min": -0.847633721812678, "alignment_max": -0.2938813598259951, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.137626127632436, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019906044006347656, "door_quality": 0.03404973417092276, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04864247738703252, "step_quality_min": -0.5158146232654637, "step_quality_max": 0.576235165868382, "alignment_signed_mean": -0.5328931752372187, "alignment_abs_mean": 0.5328931752372187, "alignment_min": -0.849859658349068, "alignment_max": -0.17368428570935981, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774598668439116, 0.1330395237497263, 1.0409315626056623, 0.1553012206545936, 0.7455621957488269, 0.6336389523033912, 0.136089019605705], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1099132542105992, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023517131805419922, "door_quality": 0.05613993605403164, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08019990864861663, "step_quality_min": -0.6394437537570233, "step_quality_max": 0.5342412614078185, "alignment_signed_mean": -0.49834049418176435, "alignment_abs_mean": 0.49834049418176435, "alignment_min": -0.9395026122240924, "alignment_max": -0.32576993910164076, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1098299310840467, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024433612823486328, "door_quality": 0.06103255917664866, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08718937025235524, "step_quality_min": -0.646871588974256, "step_quality_max": 0.5383608974578946, "alignment_signed_mean": -0.5158963033472549, "alignment_abs_mean": 0.5158963033472549, "alignment_min": -0.9399070048344229, "alignment_max": -0.265160959182695, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 43, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474828481674194, "tray_grasped_left": false, "left_arm_pose": [0.31088873744010925, -0.09512318670749664, 1.1866501569747925, 0.16542886197566986, 0.8913243412971497, 0.4151836931705475, 0.07613625377416611], "right_arm_pose": [0.3648245334625244, -0.2413691133260727, 1.200339913368225, 0.594534695148468, 0.6579505205154419, 0.45860058069229126, -0.05757724493741989], "left_arm_joint_positions": [-0.27011680603027344, 0.024022847414016724, -0.30938097834587097, -1.9448473453521729, 0.877489447593689, 1.6855690479278564, 0.4532374143600464], "right_arm_joint_positions": [0.19594383239746094, 0.019650965929031372, 0.11601331830024719, -1.8758060932159424, -0.6067479848861694, 1.0609519481658936, -0.6627694368362427], "pregrasp_goal_pose": [0.3877462948044774, 0.1330395603921492, 1.0409328540204552, 0.15529987415689822, 0.7455660867029754, 0.6336343702789309, 0.13609057368710664], "pregrasp_position_error": 0.28142291247935053, "pregrasp_orientation_error_deg": 30.98374215922099}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877462948044774, 0.1330395603921492, 1.0409328540204552, 0.15529987415689822, 0.7455660867029754, 0.6336343702789309, 0.13609057368710664], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1205929439222924, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023073196411132812, "door_quality": 0.057849558875635226, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08264222696519319, "step_quality_min": -0.7357489264050897, "step_quality_max": 0.5729293575457499, "alignment_signed_mean": -0.5231500930326327, "alignment_abs_mean": 0.5231500930326327, "alignment_min": -0.91615029647309, "alignment_max": -0.19550621977857477, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.119121888979137, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02370929718017578, "door_quality": 0.05039715559000202, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07199593655714574, "step_quality_min": -0.7145872446164171, "step_quality_max": 0.5581482265273703, "alignment_signed_mean": -0.5270895211736545, "alignment_abs_mean": 0.5270895211736545, "alignment_min": -0.88549372916801, "alignment_max": -0.25946982012193726, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677462948044774, 0.1330395603921492, 1.0409328540204552, 0.15529987415689822, 0.7455660867029754, 0.6336343702789309, 0.13609057368710664], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1358216088642825, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022080421447753906, "door_quality": 0.028333886602228707, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04047698086032673, "step_quality_min": -0.5289434413361096, "step_quality_max": 0.5569473068934595, "alignment_signed_mean": -0.5659844066361599, "alignment_abs_mean": 0.5659844066361599, "alignment_min": -0.847882296427304, "alignment_max": -0.2837849651664918, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.135835609829062, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02301192283630371, "door_quality": 0.021773856223064002, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.031105508890091435, "step_quality_min": -0.5347035526381413, "step_quality_max": 0.5575949996911416, "alignment_signed_mean": -0.5706908991990295, "alignment_abs_mean": 0.5706908991990295, "alignment_min": -0.8471377765178383, "alignment_max": -0.27439530183726063, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774629480447744, 0.1330395603921492, 1.0409328540204552, 0.15529987415689822, 0.7455660867029754, 0.6336343702789309, 0.13609057368710664], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1079162108489573, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023931026458740234, "door_quality": 0.06719365395180031, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09599093421685759, "step_quality_min": -0.6815275220707, "step_quality_max": 0.5635231287693008, "alignment_signed_mean": -0.49469894081998145, "alignment_abs_mean": 0.49469894081998145, "alignment_min": -0.92970948952478, "alignment_max": -0.21013627876091803, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.107939490386793, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02263808250427246, "door_quality": 0.07317255030221291, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.10453221471744702, "step_quality_min": -0.6891298068342482, "step_quality_max": 0.5959266281716428, "alignment_signed_mean": -0.4978066309544955, "alignment_abs_mean": 0.4978066309544955, "alignment_min": -0.9333544359838967, "alignment_max": -0.23096199006219634, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 44, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.31089749932289124, -0.09521137177944183, 1.1865066289901733, 0.1655200868844986, 0.8911849856376648, 0.4154449999332428, 0.07614471018314362], "right_arm_pose": [0.36978745460510254, -0.24018621444702148, 1.1961889266967773, 0.5720636248588562, 0.6679593920707703, 0.4732964336872101, -0.050635553896427155], "left_arm_joint_positions": [-0.2702486515045166, 0.024096280336380005, -0.30950233340263367, -1.9449717998504639, 0.878048300743103, 1.6854426860809326, 0.45290887355804443], "right_arm_joint_positions": [0.20110058784484863, 0.015979796648025513, 0.1191418468952179, -1.9023423194885254, -0.6230562925338745, 1.056182861328125, -0.7042547464370728], "pregrasp_goal_pose": [0.3877460300876996, 0.13303957427213273, 1.0409318792292541, 0.15530191014578604, 0.7455628032420029, 0.6336382434790245, 0.13608820495477478], "pregrasp_position_error": 0.2814181920596157, "pregrasp_orientation_error_deg": 30.95121807235978}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877460300876996, 0.13303957427213273, 1.0409318792292541, 0.15530191014578604, 0.7455628032420029, 0.6336382434790245, 0.13608820495477478], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1198922129252893, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02174663543701172, "door_quality": 0.06922153126715223, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09888790181021748, "step_quality_min": -0.7721621320760952, "step_quality_max": 0.5434935860173936, "alignment_signed_mean": -0.5231891614660291, "alignment_abs_mean": 0.5231891614660291, "alignment_min": -0.9236879733564833, "alignment_max": -0.2414644696627874, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1184290770603205, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024372100830078125, "door_quality": 0.04573171638849656, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06533102341213795, "step_quality_min": -0.7235637484820113, "step_quality_max": 0.5459659408442666, "alignment_signed_mean": -0.5349596467243718, "alignment_abs_mean": 0.5349596467243718, "alignment_min": -0.8826066097599449, "alignment_max": -0.3358064786175136, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774603008769957, 0.13303957427213273, 1.0409318792292541, 0.15530191014578604, 0.7455628032420029, 0.6336382434790245, 0.13608820495477478], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1350929873204274, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023232460021972656, "door_quality": 0.0229531512053693, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.03279021600767043, "step_quality_min": -0.5341475287860644, "step_quality_max": 0.5428018271845858, "alignment_signed_mean": -0.5755295849066098, "alignment_abs_mean": 0.5755295849066098, "alignment_min": -0.8457370312426521, "alignment_max": -0.31698527936027465, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1350089065109412, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020718097686767578, "door_quality": 0.03888489415079766, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.05554984878685381, "step_quality_min": -0.5414361446768863, "step_quality_max": 0.5904193752940814, "alignment_signed_mean": -0.5212283072064373, "alignment_abs_mean": 0.5212283072064373, "alignment_min": -0.8506999168495832, "alignment_max": -0.09925848546806972, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077460300876996, 0.13303957427213273, 1.0409318792292541, 0.15530191014578604, 0.7455628032420029, 0.6336382434790245, 0.13608820495477478], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1072614755001948, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020018815994262695, "door_quality": 0.08942370372719652, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.12774814818170932, "step_quality_min": -0.6965110009339978, "step_quality_max": 0.5708686868217739, "alignment_signed_mean": -0.4790214504438965, "alignment_abs_mean": 0.4790214504438965, "alignment_min": -0.9282502792571801, "alignment_max": -0.16251275943361113, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.107354900046065, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024376630783081055, "door_quality": 0.06027621972322439, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08610888531889199, "step_quality_min": -0.7045422026484616, "step_quality_max": 0.5428615105315705, "alignment_signed_mean": -0.48247970563489195, "alignment_abs_mean": 0.48247970563489195, "alignment_min": -0.9324074382009838, "alignment_max": -0.2311541973726646, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 45, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31093427538871765, -0.09522034227848053, 1.186544418334961, 0.16551905870437622, 0.891144335269928, 0.4155169129371643, 0.0762295126914978], "right_arm_pose": [0.37469878792762756, -0.2389369010925293, 1.1922352313995361, 0.5502080321311951, 0.6765705943107605, 0.487434059381485, -0.043947815895080566], "left_arm_joint_positions": [-0.27031612396240234, 0.024201184511184692, -0.30954357981681824, -1.9447619915008545, 0.8782297372817993, 1.685415267944336, 0.4527939558029175], "right_arm_joint_positions": [0.20626592636108398, 0.011608630418777466, 0.12208130955696106, -1.928473711013794, -0.6392146348953247, 1.0516939163208008, -0.7434993982315063], "pregrasp_goal_pose": [0.3877468408359074, 0.13303985326213674, 1.0409320561121889, 0.15529982120941946, 0.7455640733057725, 0.6336367358101435, 0.13609065052344146], "pregrasp_position_error": 0.28143533379964114, "pregrasp_orientation_error_deg": 30.93960282223322}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877468408359074, 0.13303985326213674, 1.0409320561121889, 0.15529982120941946, 0.7455640733057725, 0.6336367358101435, 0.13609065052344146], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196968913876788, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023569583892822266, "door_quality": 0.053527990835914814, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07646855833702117, "step_quality_min": -0.7642627740636094, "step_quality_max": 0.5844695983741479, "alignment_signed_mean": -0.5283086462268621, "alignment_abs_mean": 0.5283086462268621, "alignment_min": -0.916210057933074, "alignment_max": -0.19457247932066649, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1181972495444654, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024444103240966797, "door_quality": 0.04450954115224247, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06358505878891782, "step_quality_min": -0.7419150969789953, "step_quality_max": 0.5556589542493132, "alignment_signed_mean": -0.5405478371454886, "alignment_abs_mean": 0.5405478371454886, "alignment_min": -0.8853395859883675, "alignment_max": -0.3104684657529453, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774684083590736, 0.13303985326213674, 1.0409320561121889, 0.15529982120941946, 0.7455640733057725, 0.6336367358101435, 0.13609065052344146], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348988132842746, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019622802734375, "door_quality": 0.044642039705825254, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06377434243689323, "step_quality_min": -0.5472075179888193, "step_quality_max": 0.6062524867976034, "alignment_signed_mean": -0.5058480345182175, "alignment_abs_mean": 0.5058480345182175, "alignment_min": -0.8471538737389886, "alignment_max": -0.029915773409444454, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1348516806987181, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02147674560546875, "door_quality": 0.03481756778779066, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04973938255398666, "step_quality_min": -0.5551429101309047, "step_quality_max": 0.5965200123848493, "alignment_signed_mean": -0.5243785182507809, "alignment_abs_mean": 0.5243785182507809, "alignment_min": -0.8473929878408484, "alignment_max": -0.07192626711628096, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077468408359074, 0.13303985326213674, 1.0409320561121889, 0.15529982120941946, 0.7455640733057725, 0.6336367358101435, 0.13609065052344146], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1069961755020523, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.026513099670410156, "door_quality": 0.05106802649170853, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07295432355958362, "step_quality_min": -0.6896603824309848, "step_quality_max": 0.5520416375991121, "alignment_signed_mean": -0.5033906154056587, "alignment_abs_mean": 0.5033906154056587, "alignment_min": -0.9262812875100238, "alignment_max": -0.21976465135990828, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1070573799523258, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02411961555480957, "door_quality": 0.06300469018018029, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09000670025740042, "step_quality_min": -0.7006868459207864, "step_quality_max": 0.5376234581853758, "alignment_signed_mean": -0.49012077464502557, "alignment_abs_mean": 0.49012077464502557, "alignment_min": -0.9307293351491709, "alignment_max": -0.28006424357087345, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 46, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31093674898147583, -0.09524098038673401, 1.186514139175415, 0.16554415225982666, 0.8911299705505371, 0.41554024815559387, 0.07621555775403976], "right_arm_pose": [0.37957626581192017, -0.2377348393201828, 1.1883702278137207, 0.5282313227653503, 0.6843301057815552, 0.5012892484664917, -0.03705518692731857], "left_arm_joint_positions": [-0.270338773727417, 0.02421286702156067, -0.30954524874687195, -1.9447400569915771, 0.8782914876937866, 1.6854536533355713, 0.4527779817581177], "right_arm_joint_positions": [0.211472749710083, 0.00759771466255188, 0.12523630261421204, -1.954944133758545, -0.6551822423934937, 1.0473644733428955, -0.7821754217147827], "pregrasp_goal_pose": [0.38774637516432947, 0.13303991505672758, 1.0409304025386878, 0.15530038775112853, 0.7455588038764649, 0.6336429319272319, 0.13609002294549566], "pregrasp_position_error": 0.2814365119737137, "pregrasp_orientation_error_deg": 30.93787875587989}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774637516432947, 0.13303991505672758, 1.0409304025386878, 0.15530038775112853, 0.7455588038764649, 0.6336429319272319, 0.13609002294549566], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119643105015692, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02164769172668457, "door_quality": 0.06787875252221304, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09696964646030434, "step_quality_min": -0.758063233049485, "step_quality_max": 0.555661850704098, "alignment_signed_mean": -0.5218601123045596, "alignment_abs_mean": 0.5218601123045596, "alignment_min": -0.9214656494399334, "alignment_max": -0.22502860658693216, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.118099882189167, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02338433265686035, "door_quality": 0.05140202125220181, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07343145893171688, "step_quality_min": -0.7484437319013844, "step_quality_max": 0.5536482844319335, "alignment_signed_mean": -0.5257236516820925, "alignment_abs_mean": 0.5257236516820925, "alignment_min": -0.8875797524398651, "alignment_max": -0.28287007160790584, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774637516432945, 0.13303991505672758, 1.0409304025386878, 0.15530038775112853, 0.7455588038764649, 0.6336429319272319, 0.13609002294549566], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348702887804298, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02299976348876953, "door_quality": 0.022327277501926, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.03189611071703714, "step_quality_min": -0.5460969799204488, "step_quality_max": 0.5425455451349923, "alignment_signed_mean": -0.574371907508037, "alignment_abs_mean": 0.574371907508037, "alignment_min": -0.84847758799192, "alignment_max": -0.3112246972648341, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1348290110348909, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02335071563720703, "door_quality": 0.01932225850112609, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.027603226430180133, "step_quality_min": -0.5516458592506328, "step_quality_max": 0.5360292889234184, "alignment_signed_mean": -0.581478877942874, "alignment_abs_mean": 0.581478877942874, "alignment_min": -0.8461076770800664, "alignment_max": -0.3290676669162529, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077463751643295, 0.13303991505672758, 1.0409304025386878, 0.15530038775112853, 0.7455588038764649, 0.6336429319272319, 0.13609002294549566], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1069795033938459, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023986339569091797, "door_quality": 0.06394783673308253, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0913540524758322, "step_quality_min": -0.699376511096614, "step_quality_max": 0.5475760267089523, "alignment_signed_mean": -0.4885789413994054, "alignment_abs_mean": 0.4885789413994054, "alignment_min": -0.9344186150892015, "alignment_max": -0.24252708691547561, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1069940564204968, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024966716766357422, "door_quality": 0.06234987647741771, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08907125211059673, "step_quality_min": -0.7195199964338217, "step_quality_max": 0.545606218413314, "alignment_signed_mean": -0.5076854537619334, "alignment_abs_mean": 0.5076854537619334, "alignment_min": -0.9410533636085274, "alignment_max": -0.29064355965678224, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 47, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31092166900634766, -0.09524312615394592, 1.1864585876464844, 0.16556544601917267, 0.8911195993423462, 0.4155644476413727, 0.07615947723388672], "right_arm_pose": [0.38442015647888184, -0.23642197251319885, 1.1845824718475342, 0.506027102470398, 0.6912726759910583, 0.514965295791626, -0.029825707897543907], "left_arm_joint_positions": [-0.27033042907714844, 0.02421286702156067, -0.3095717132091522, -1.944892406463623, 0.878266453742981, 1.6854121685028076, 0.45277416706085205], "right_arm_joint_positions": [0.21661067008972168, 0.0034568607807159424, 0.12823083996772766, -1.9816949367523193, -0.671296238899231, 1.0429935455322266, -0.8206568956375122], "pregrasp_goal_pose": [0.38774666211847786, 0.13303980816103328, 1.0409319398678838, 0.15529981240852692, 0.7455640915463684, 0.6336367143116719, 0.13609066073328935], "pregrasp_position_error": 0.28141283353786983, "pregrasp_orientation_error_deg": 30.935604372976556}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774666211847786, 0.13303980816103328, 1.0409319398678838, 0.15529981240852692, 0.7455640915463684, 0.6336367143116719, 0.13609066073328935], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119579034807987, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023578882217407227, "door_quality": 0.054674362536146846, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0781062321944955, "step_quality_min": -0.7673865879334363, "step_quality_max": 0.555123667631764, "alignment_signed_mean": -0.5342079581273892, "alignment_abs_mean": 0.5342079581273892, "alignment_min": -0.9142694917668127, "alignment_max": -0.2545899355486318, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1180085992745197, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02381443977355957, "door_quality": 0.05089500071013418, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07270714387162026, "step_quality_min": -0.7518023390607466, "step_quality_max": 0.5600616852678648, "alignment_signed_mean": -0.5282422343494326, "alignment_abs_mean": 0.5282422343494326, "alignment_min": -0.884293235036585, "alignment_max": -0.26113204149514857, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774666211847784, 0.13303980816103328, 1.0409319398678838, 0.15529981240852692, 0.7455640915463684, 0.6336367143116719, 0.13609066073328935], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134812116529099, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021630287170410156, "door_quality": 0.03282943960048561, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04689919942926516, "step_quality_min": -0.527507299902527, "step_quality_max": 0.6004653313872738, "alignment_signed_mean": -0.5307513009304995, "alignment_abs_mean": 0.5307513009304995, "alignment_min": -0.8520402674649729, "alignment_max": -0.05689651811245904, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1347676179122608, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0208892822265625, "door_quality": 0.035423646765862245, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0506052096655175, "step_quality_min": -0.5622651063657446, "step_quality_max": 0.6010231422298875, "alignment_signed_mean": -0.5247761767922215, "alignment_abs_mean": 0.5247761767922215, "alignment_min": -0.8483141217574073, "alignment_max": -0.09151533896042599, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077466621184779, 0.13303980816103328, 1.0409319398678838, 0.15529981240852692, 0.7455640915463684, 0.6336367143116719, 0.13609066073328935], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1069511823363798, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01878666877746582, "door_quality": 0.09886077790974401, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.14122968272820574, "step_quality_min": -0.7234197550029287, "step_quality_max": 0.5725476127657391, "alignment_signed_mean": -0.46885576318212097, "alignment_abs_mean": 0.46885576318212097, "alignment_min": -0.9416569236796924, "alignment_max": -0.1527591438129059, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1069181055094581, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023745298385620117, "door_quality": 0.06729973447474878, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09614247782106969, "step_quality_min": -0.6936386740799091, "step_quality_max": 0.5367184331018946, "alignment_signed_mean": -0.48524062504165644, "alignment_abs_mean": 0.48524062504165644, "alignment_min": -0.9247727606702726, "alignment_max": -0.2725984205806148, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 48, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474828481674194, "tray_grasped_left": false, "left_arm_pose": [0.3109394311904907, -0.09523181617259979, 1.1864310503005981, 0.16558828949928284, 0.8911112546920776, 0.4155743420124054, 0.0761532187461853], "right_arm_pose": [0.38931336998939514, -0.23508219420909882, 1.1811038255691528, 0.4836866557598114, 0.6975023746490479, 0.5282401442527771, -0.022364404052495956], "left_arm_joint_positions": [-0.2703425884246826, 0.02417638897895813, -0.30959078669548035, -1.9448399543762207, 0.8783437013626099, 1.6854374408721924, 0.45278751850128174], "right_arm_joint_positions": [0.22178435325622559, -0.0008578002452850342, 0.1313042938709259, -2.007958173751831, -0.6872915029525757, 1.0386416912078857, -0.8590821027755737], "pregrasp_goal_pose": [0.38774647189083417, 0.1330397434093089, 1.0409321030194343, 0.1553006208124642, 0.7455630167880154, 0.6336379831407852, 0.13608971854807664], "pregrasp_position_error": 0.28138438136298183, "pregrasp_orientation_error_deg": 30.93457600335411}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774647189083417, 0.1330397434093089, 1.0409321030194343, 0.1553006208124642, 0.7455630167880154, 0.6336379831407852, 0.13608971854807664], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119506459505508, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024241209030151367, "door_quality": 0.05411466799310063, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07730666856157233, "step_quality_min": -0.7423387932122385, "step_quality_max": 0.5443327819109463, "alignment_signed_mean": -0.5473677494833937, "alignment_abs_mean": 0.5473677494833937, "alignment_min": -0.912387959441809, "alignment_max": -0.3181758350131393, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.118059259159154, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024613380432128906, "door_quality": 0.044833501868383994, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06404785981197714, "step_quality_min": -0.7567578991427898, "step_quality_max": 0.5498593907009377, "alignment_signed_mean": -0.5414898421886647, "alignment_abs_mean": 0.5414898421886647, "alignment_min": -0.8910843622906262, "alignment_max": -0.3257333733385737, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774647189083415, 0.1330397434093089, 1.0409321030194343, 0.1553006208124642, 0.7455630167880154, 0.6336379831407852, 0.13608971854807664], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134756724936638, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021346569061279297, "door_quality": 0.03509814997081826, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.050140214244026086, "step_quality_min": -0.5577079865111523, "step_quality_max": 0.5878378901452909, "alignment_signed_mean": -0.52548231372853, "alignment_abs_mean": 0.52548231372853, "alignment_min": -0.8480025506323823, "alignment_max": -0.0930685830259874, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1346672945300607, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023004770278930664, "door_quality": 0.02332597491924585, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.03332282131320836, "step_quality_min": -0.5622395278993668, "step_quality_max": 0.5326893667075145, "alignment_signed_mean": -0.5830365732682697, "alignment_abs_mean": 0.5830365732682697, "alignment_min": -0.8484830121323601, "alignment_max": -0.31433441038953636, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077464718908342, 0.1330397434093089, 1.0409321030194343, 0.1553006208124642, 0.7455630167880154, 0.6336379831407852, 0.13608971854807664], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1068567276323078, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023211240768432617, "door_quality": 0.07800436248796724, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.11143480355423892, "step_quality_min": -0.6155965144922203, "step_quality_max": 0.5346327949552283, "alignment_signed_mean": -0.5125107648369462, "alignment_abs_mean": 0.5125107648369462, "alignment_min": -0.9310174124359117, "alignment_max": -0.24982682417405364, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1069012456967573, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023476362228393555, "door_quality": 0.059079416237226325, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08439916605318047, "step_quality_min": -0.7099549351842355, "step_quality_max": 0.5584933112188715, "alignment_signed_mean": -0.49356988561213727, "alignment_abs_mean": 0.49356988561213727, "alignment_min": -0.9337036558773654, "alignment_max": -0.255996770362257, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 49, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3109474182128906, -0.0952301174402237, 1.1865086555480957, 0.16555070877075195, 0.8911179900169373, 0.41556331515312195, 0.07621586322784424], "right_arm_pose": [0.3941078782081604, -0.23371845483779907, 1.1777178049087524, 0.4610997140407562, 0.7029654383659363, 0.5413077473640442, -0.014585963450372219], "left_arm_joint_positions": [-0.2703416347503662, 0.024221688508987427, -0.3095864951610565, -1.9448130130767822, 0.8783639669418335, 1.6853930950164795, 0.45277082920074463], "right_arm_joint_positions": [0.2269456386566162, -0.0049082934856414795, 0.13441947102546692, -2.0342020988464355, -0.7033041715621948, 1.0343916416168213, -0.8974102735519409], "pregrasp_goal_pose": [0.3877466475771011, 0.1330400166475681, 1.0409307646302217, 0.15530175329232448, 0.7455584796531599, 0.6336433228727812, 0.13608842059609233], "pregrasp_position_error": 0.2814219218033511, "pregrasp_orientation_error_deg": 30.93499836846144}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877466475771011, 0.1330400166475681, 1.0409307646302217, 0.15530175329232448, 0.7455584796531599, 0.6336433228727812, 0.13608842059609233], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1195537590904057, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02356886863708496, "door_quality": 0.054458858155324044, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07779836879332007, "step_quality_min": -0.7651947194709561, "step_quality_max": 0.5688315780213056, "alignment_signed_mean": -0.5296213903493252, "alignment_abs_mean": 0.5296213903493252, "alignment_min": -0.9152648188278003, "alignment_max": -0.22970418569913637, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.118016426993753, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023499250411987305, "door_quality": 0.052599357812211846, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07514193973173121, "step_quality_min": -0.7408059183757062, "step_quality_max": 0.5711919599970617, "alignment_signed_mean": -0.5299539820208035, "alignment_abs_mean": 0.5299539820208035, "alignment_min": -0.8852549327893482, "alignment_max": -0.23490152051029659, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774664757710107, 0.1330400166475681, 1.0409307646302217, 0.15530175329232448, 0.7455584796531599, 0.6336433228727812, 0.13608842059609233], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348077247327786, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02310323715209961, "door_quality": 0.02209470764941628, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.031563868070594685, "step_quality_min": -0.5427062409968784, "step_quality_max": 0.5361812295930456, "alignment_signed_mean": -0.5818692789074551, "alignment_abs_mean": 0.5818692789074551, "alignment_min": -0.8485880869425921, "alignment_max": -0.3113590291639551, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1348101241532491, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023887157440185547, "door_quality": 0.016885901735518405, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.024122716765026295, "step_quality_min": -0.5462519364040278, "step_quality_max": 0.5365899882553798, "alignment_signed_mean": -0.5816754438664047, "alignment_abs_mean": 0.5816754438664047, "alignment_min": -0.8482418301590068, "alignment_max": -0.3185886372642931, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077466475771011, 0.1330400166475681, 1.0409307646302217, 0.15530175329232448, 0.7455584796531599, 0.6336433228727812, 0.13608842059609233], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1069861659478795, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.016597747802734375, "door_quality": 0.10156854397467577, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.14509791996382254, "step_quality_min": -0.7300972758637085, "step_quality_max": 0.5957322713352254, "alignment_signed_mean": -0.4248525814053773, "alignment_abs_mean": 0.44056785132313536, "alignment_min": -0.9493669247479694, "alignment_max": 0.07936211308468012, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1069363225763054, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024138927459716797, "door_quality": 0.06835569856911136, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09765099795587338, "step_quality_min": -0.7183184762700797, "step_quality_max": 0.5406470875225786, "alignment_signed_mean": -0.5034053696363863, "alignment_abs_mean": 0.5034053696363863, "alignment_min": -0.9419406575385306, "alignment_max": -0.27354679742436644, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 50, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31093811988830566, -0.09523604810237885, 1.1864430904388428, 0.16557557880878448, 0.8911097049713135, 0.4155804514884949, 0.07616588473320007], "right_arm_pose": [0.39890390634536743, -0.23232543468475342, 1.1744015216827393, 0.4382821023464203, 0.7076716423034668, 0.5541377663612366, -0.0064060138538479805], "left_arm_joint_positions": [-0.2703554630279541, 0.024369746446609497, -0.3095981776714325, -1.9449756145477295, 0.8783453702926636, 1.685396671295166, 0.4527548551559448], "right_arm_joint_positions": [0.23212409019470215, -0.009122580289840698, 0.13744071125984192, -2.06050705909729, -0.7192467451095581, 1.0301332473754883, -0.9358514547348022], "pregrasp_goal_pose": [0.38774615750384167, 0.13303964345400898, 1.040930057000781, 0.15529553630058987, 0.745562460331955, 0.6336385998867787, 0.1360956975161109], "pregrasp_position_error": 0.2813952894030801, "pregrasp_orientation_error_deg": 30.93379303770563}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774615750384167, 0.13303964345400898, 1.040930057000781, 0.15529553630058987, 0.745562460331955, 0.6336385998867787, 0.1360956975161109], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119507228147783, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02431321144104004, "door_quality": 0.04994552583697032, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07135075119567189, "step_quality_min": -0.7550403025687424, "step_quality_max": 0.5506838689788459, "alignment_signed_mean": -0.5423647787643506, "alignment_abs_mean": 0.5423647787643506, "alignment_min": -0.914422097514554, "alignment_max": -0.3083310670930755, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.118063928435957, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02458810806274414, "door_quality": 0.04305516254149514, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06150737505927878, "step_quality_min": -0.7290937866670497, "step_quality_max": 0.54460571502723, "alignment_signed_mean": -0.5440006890409198, "alignment_abs_mean": 0.5440006890409198, "alignment_min": -0.8777659350852589, "alignment_max": -0.33195074920467, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774615750384165, 0.13303964345400898, 1.040930057000781, 0.15529553630058987, 0.745562460331955, 0.6336385998867787, 0.1360956975161109], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134739896875075, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02123117446899414, "door_quality": 0.034630352522730785, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0494719321753297, "step_quality_min": -0.5531560575550023, "step_quality_max": 0.5892633181776151, "alignment_signed_mean": -0.5316207862079908, "alignment_abs_mean": 0.5316207862079908, "alignment_min": -0.8483683785078965, "alignment_max": -0.12053597869200237, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1347128303915142, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02020573616027832, "door_quality": 0.04177297659396089, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.059675680848515565, "step_quality_min": -0.5499902672029209, "step_quality_max": 0.5591483040098546, "alignment_signed_mean": -0.5404028221502856, "alignment_abs_mean": 0.5404028221502856, "alignment_min": -0.8468536485139194, "alignment_max": -0.23983053195267998, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077461575038417, 0.13303964345400898, 1.040930057000781, 0.15529553630058987, 0.745562460331955, 0.6336385998867787, 0.1360956975161109], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1068946312482129, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022814035415649414, "door_quality": 0.0654409608573171, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09348708693902442, "step_quality_min": -0.696393538704155, "step_quality_max": 0.5553187167614476, "alignment_signed_mean": -0.49778172714528107, "alignment_abs_mean": 0.49778172714528107, "alignment_min": -0.9367257376018391, "alignment_max": -0.2277490089311507, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1068512733836748, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024447202682495117, "door_quality": 0.0576673703665826, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08238195766654657, "step_quality_min": -0.6918392070305714, "step_quality_max": 0.5600442839329964, "alignment_signed_mean": -0.49810960038967705, "alignment_abs_mean": 0.49810960038967705, "alignment_min": -0.9276662298889158, "alignment_max": -0.21150877442681448, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 51, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31093478202819824, -0.09524812549352646, 1.1865028142929077, 0.16555292904376984, 0.8911163806915283, 0.4155651032924652, 0.07621993869543076], "right_arm_pose": [0.40363582968711853, -0.23083780705928802, 1.171301245689392, 0.4153411388397217, 0.7115903496742249, 0.5666806697845459, 0.0020215038675814867], "left_arm_joint_positions": [-0.27034854888916016, 0.02424195408821106, -0.30958911776542664, -1.9447951316833496, 0.8783189058303833, 1.6854174137115479, 0.4527684450149536], "right_arm_joint_positions": [0.23723196983337402, -0.0130443274974823, 0.14049413800239563, -2.0869126319885254, -0.7353581190109253, 1.0258424282073975, -0.9742902517318726], "pregrasp_goal_pose": [0.38774671784027515, 0.133039851173184, 1.0409294068723345, 0.1552945262734097, 0.745561534788419, 0.6336396800869502, 0.13609689112085468], "pregrasp_position_error": 0.2814375431988692, "pregrasp_orientation_error_deg": 30.934352633005123}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774671784027515, 0.133039851173184, 1.0409294068723345, 0.1552945262734097, 0.745561534788419, 0.6336396800869502, 0.13609689112085468], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196302695698934, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023760318756103516, "door_quality": 0.053527693205072335, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07646813315010334, "step_quality_min": -0.770908235457544, "step_quality_max": 0.5901863427234446, "alignment_signed_mean": -0.5222016974152529, "alignment_abs_mean": 0.5222016974152529, "alignment_min": -0.9275444204956316, "alignment_max": -0.17831499811373366, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1181452866769421, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024326086044311523, "door_quality": 0.045680607005662816, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06525801000808974, "step_quality_min": -0.745397755696401, "step_quality_max": 0.5411064409906894, "alignment_signed_mean": -0.5415506943388063, "alignment_abs_mean": 0.5415506943388063, "alignment_min": -0.8893788516491442, "alignment_max": -0.31885963333442713, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774671784027513, 0.133039851173184, 1.0409294068723345, 0.1552945262734097, 0.745561534788419, 0.6336396800869502, 0.13609689112085468], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1347675475322978, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02362680435180664, "door_quality": 0.017799682183441797, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.025428117404916857, "step_quality_min": -0.5612449971626439, "step_quality_max": 0.5360161903478216, "alignment_signed_mean": -0.5742966343185447, "alignment_abs_mean": 0.5742966343185447, "alignment_min": -0.847774433435439, "alignment_max": -0.28478572277436015, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1348529926219968, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022470474243164062, "door_quality": 0.020358610077617894, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.029083728682311277, "step_quality_min": -0.5607695965141305, "step_quality_max": 0.5576736934214439, "alignment_signed_mean": -0.5887243393012658, "alignment_abs_mean": 0.5887243393012658, "alignment_min": -0.8469907051564043, "alignment_max": -0.35985193025570533, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774671784027516, 0.133039851173184, 1.0409294068723345, 0.1552945262734097, 0.745561534788419, 0.6336396800869502, 0.13609689112085468], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.107046615868744, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.016744613647460938, "door_quality": 0.0898776711279794, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.12839667303997057, "step_quality_min": -0.7047065128175354, "step_quality_max": 0.6013545599314173, "alignment_signed_mean": -0.3915060739428129, "alignment_abs_mean": 0.44043971282438965, "alignment_min": -0.9358658805299308, "alignment_max": 0.23732814857564627, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.10700564871744, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024007558822631836, "door_quality": 0.06176302855250859, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08823289793215514, "step_quality_min": -0.6983593887335775, "step_quality_max": 0.5516850060361957, "alignment_signed_mean": -0.49389796710320255, "alignment_abs_mean": 0.49389796710320255, "alignment_min": -0.9247908565224582, "alignment_max": -0.21692641220321107, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 52, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109495937824249, -0.09522110968828201, 1.1864681243896484, 0.16555561125278473, 0.8911184072494507, 0.415564626455307, 0.07619326561689377], "right_arm_pose": [0.4083857238292694, -0.22934195399284363, 1.1683343648910522, 0.39223814010620117, 0.7147442102432251, 0.5789420008659363, 0.010775875300168991], "left_arm_joint_positions": [-0.27033352851867676, 0.024288207292556763, -0.30956169962882996, -1.9448051452636719, 0.8783234357833862, 1.6853973865509033, 0.45279181003570557], "right_arm_joint_positions": [0.24240922927856445, -0.017142266035079956, 0.1435392200946808, -2.113495111465454, -0.7513195276260376, 1.0215139389038086, -1.012696623802185], "pregrasp_goal_pose": [0.387748340140829, 0.13303747523759668, 1.0409311547382774, 0.15529609279139067, 0.7455652244906642, 0.6336353558370174, 0.1360950235211022], "pregrasp_position_error": 0.28139125531880194, "pregrasp_orientation_error_deg": 30.934531057450595}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.387748340140829, 0.13303747523759668, 1.0409311547382774, 0.15529609279139067, 0.7455652244906642, 0.6336353558370174, 0.1360950235211022], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1195013942435732, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02437305450439453, "door_quality": 0.05021439465240141, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07173484950343059, "step_quality_min": -0.743191486997612, "step_quality_max": 0.543324650752411, "alignment_signed_mean": -0.5415227866906482, "alignment_abs_mean": 0.5415227866906482, "alignment_min": -0.9050376768878375, "alignment_max": -0.3317041922218317, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1179528789260083, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024858713150024414, "door_quality": 0.046813387446245365, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06687626778035052, "step_quality_min": -0.7285471001227456, "step_quality_max": 0.551606125375568, "alignment_signed_mean": -0.5406909611776239, "alignment_abs_mean": 0.5406909611776239, "alignment_min": -0.8735187112815723, "alignment_max": -0.3011448644551677, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774834014082897, 0.13303747523759668, 1.0409311547382774, 0.15529609279139067, 0.7455652244906642, 0.6336353558370174, 0.1360950235211022], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1346700924598234, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021823883056640625, "door_quality": 0.03259092377664438, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04655846253806341, "step_quality_min": -0.5559200525166279, "step_quality_max": 0.5666439749497805, "alignment_signed_mean": -0.5527583668259742, "alignment_abs_mean": 0.5527583668259742, "alignment_min": -0.8513324435288694, "alignment_max": -0.22986568128137091, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1346982588787917, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02234363555908203, "door_quality": 0.02833561326023769, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.040479447514625275, "step_quality_min": -0.5825332686576732, "step_quality_max": 0.5639515125312274, "alignment_signed_mean": -0.5621758596616814, "alignment_abs_mean": 0.5621758596616814, "alignment_min": -0.8497038555643855, "alignment_max": -0.23023881338146007, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.407748340140829, 0.13303747523759668, 1.0409311547382774, 0.15529609279139067, 0.7455652244906642, 0.6336353558370174, 0.1360950235211022], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1068985194688366, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02360057830810547, "door_quality": 0.06808731940626729, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09726759915181042, "step_quality_min": -0.7196362153871789, "step_quality_max": 0.5538024697601267, "alignment_signed_mean": -0.48811078154458387, "alignment_abs_mean": 0.48811078154458387, "alignment_min": -0.9375438838954689, "alignment_max": -0.2682989630578437, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1068398568287625, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.026155948638916016, "door_quality": 0.05681979964683162, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0811711423526166, "step_quality_min": -0.7093502709782117, "step_quality_max": 0.568346563688539, "alignment_signed_mean": -0.5005981731227815, "alignment_abs_mean": 0.5005981731227815, "alignment_min": -0.9322527139466127, "alignment_max": -0.1882602388082817, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 53, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3109363615512848, -0.09523840248584747, 1.1865050792694092, 0.16555266082286835, 0.891114354133606, 0.4155731499195099, 0.07620114088058472], "right_arm_pose": [0.41304105520248413, -0.22778935730457306, 1.1654969453811646, 0.369022935628891, 0.7171071767807007, 0.5909198522567749, 0.019829751923680305], "left_arm_joint_positions": [-0.2703375816345215, 0.024381667375564575, -0.309566468000412, -1.944838285446167, 0.8783200979232788, 1.6853852272033691, 0.4527796506881714], "right_arm_joint_positions": [0.24755072593688965, -0.021037787199020386, 0.14661481976509094, -2.1397485733032227, -0.7673295736312866, 1.0172791481018066, -1.0511401891708374], "pregrasp_goal_pose": [0.3877483798612221, 0.13303778576260106, 1.0409305456357814, 0.15529780404765142, 0.7455619418145658, 0.6336392257575187, 0.13609303640187959], "pregrasp_position_error": 0.28142858618259714, "pregrasp_orientation_error_deg": 30.93377180076491}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877483798612221, 0.13303778576260106, 1.0409305456357814, 0.15529780404765142, 0.7455619418145658, 0.6336392257575187, 0.13609303640187959], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.11956507759462, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024354934692382812, "door_quality": 0.0489516017008021, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06993085957257443, "step_quality_min": -0.753199464914593, "step_quality_max": 0.5590266847049001, "alignment_signed_mean": -0.5404052205509271, "alignment_abs_mean": 0.5404052205509271, "alignment_min": -0.9145642205088625, "alignment_max": -0.28104131249844816, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.117998966369593, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024483919143676758, "door_quality": 0.04508847346984547, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06441210495692211, "step_quality_min": -0.747000389910758, "step_quality_max": 0.557994781090225, "alignment_signed_mean": -0.5346507018596718, "alignment_abs_mean": 0.5346507018596718, "alignment_min": -0.881612130907657, "alignment_max": -0.27132351123588666, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677483798612221, 0.13303778576260106, 1.0409305456357814, 0.15529780404765142, 0.7455619418145658, 0.6336392257575187, 0.13609303640187959], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348335211470855, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021025657653808594, "door_quality": 0.037344024098334254, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.053348605854763226, "step_quality_min": -0.5392479204508985, "step_quality_max": 0.556688376058597, "alignment_signed_mean": -0.5425995196494755, "alignment_abs_mean": 0.5425995196494755, "alignment_min": -0.8474476469332288, "alignment_max": -0.2415920705126792, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1347612874700461, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022566795349121094, "door_quality": 0.027085719893443334, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.03869388556206191, "step_quality_min": -0.5469135597066763, "step_quality_max": 0.5583150424165403, "alignment_signed_mean": -0.5649940616864261, "alignment_abs_mean": 0.5649940616864261, "alignment_min": -0.846998379145425, "alignment_max": -0.2514116577293106, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774837986122214, 0.13303778576260106, 1.0409305456357814, 0.15529780404765142, 0.7455619418145658, 0.6336392257575187, 0.13609303640187959], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1069835587774326, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024258136749267578, "door_quality": 0.06025767346182789, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08608239065975413, "step_quality_min": -0.6914700390806593, "step_quality_max": 0.5381981432698669, "alignment_signed_mean": -0.4920028752314464, "alignment_abs_mean": 0.4920028752314464, "alignment_min": -0.9277869711721277, "alignment_max": -0.26955100880935673, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1069994111357522, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02321910858154297, "door_quality": 0.07049410905605508, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.1007058700800787, "step_quality_min": -0.7002609285931699, "step_quality_max": 0.5295023360760521, "alignment_signed_mean": -0.5005100354562649, "alignment_abs_mean": 0.5005100354562649, "alignment_min": -0.9344920914438122, "alignment_max": -0.2808248745998379, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 54, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109145760536194, -0.09522444009780884, 1.1865061521530151, 0.1655329465866089, 0.8911151885986328, 0.4155770242214203, 0.07621286064386368], "right_arm_pose": [0.41775450110435486, -0.2262345850467682, 1.1628687381744385, 0.34580206871032715, 0.7187015414237976, 0.6025289297103882, 0.029118577018380165], "left_arm_joint_positions": [-0.27033019065856934, 0.02422979474067688, -0.30957552790641785, -1.9450111389160156, 0.8783270120620728, 1.6853959560394287, 0.452736496925354], "right_arm_joint_positions": [0.252718448638916, -0.025598734617233276, 0.14968422055244446, -2.1661722660064697, -0.7832778692245483, 1.0129144191741943, -1.0895811319351196], "pregrasp_goal_pose": [0.38774641216661904, 0.13303972919717855, 1.0409299606629543, 0.15529455769670228, 0.7455631899724688, 0.6336377353442788, 0.1360968421956796], "pregrasp_position_error": 0.28142510469603876, "pregrasp_orientation_error_deg": 30.932967339282158}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774641216661904, 0.13303972919717855, 1.0409299606629543, 0.15529455769670228, 0.7455631899724688, 0.6336377353442788, 0.1360968421956796], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1195965080250607, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022950410842895508, "door_quality": 0.05763057097297581, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08232938710425117, "step_quality_min": -0.7660439184153018, "step_quality_max": 0.578768784933282, "alignment_signed_mean": -0.5246795988952151, "alignment_abs_mean": 0.5246795988952151, "alignment_min": -0.9161944662676067, "alignment_max": -0.18857737812899983, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1180556032984543, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02398848533630371, "door_quality": 0.05407246679240596, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07724638113200852, "step_quality_min": -0.7233868044316287, "step_quality_max": 0.5581750835165369, "alignment_signed_mean": -0.5365100237220115, "alignment_abs_mean": 0.5365100237220115, "alignment_min": -0.8785510907866069, "alignment_max": -0.28200914204866323, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.367746412166619, 0.13303972919717855, 1.0409299606629543, 0.15529455769670228, 0.7455631899724688, 0.6336377353442788, 0.1360968421956796], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1347513335197983, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022120952606201172, "door_quality": 0.02920140416023239, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04171629165747485, "step_quality_min": -0.560713402023924, "step_quality_max": 0.5582784714112254, "alignment_signed_mean": -0.5582671527797105, "alignment_abs_mean": 0.5582671527797105, "alignment_min": -0.8461529421419495, "alignment_max": -0.28254124432326705, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.134799574283012, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021003007888793945, "door_quality": 0.03781227943678743, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.05401754205255348, "step_quality_min": -0.550338840564216, "step_quality_max": 0.5677255459704352, "alignment_signed_mean": -0.5369390394483252, "alignment_abs_mean": 0.5369390394483252, "alignment_min": -0.8467102588393447, "alignment_max": -0.19272431329967935, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774641216661905, 0.13303972919717855, 1.0409299606629543, 0.15529455769670228, 0.7455631899724688, 0.6336377353442788, 0.1360968421956796], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070887737064576, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023421287536621094, "door_quality": 0.06826713670729319, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09752448101041886, "step_quality_min": -0.7101110234365275, "step_quality_max": 0.5457392977937019, "alignment_signed_mean": -0.4936146906102089, "alignment_abs_mean": 0.4936146906102089, "alignment_min": -0.935349710260821, "alignment_max": -0.2608724356177095, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1069692934582773, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023799896240234375, "door_quality": 0.0682889074954157, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09755558213630815, "step_quality_min": -0.6946458790935529, "step_quality_max": 0.548781526183999, "alignment_signed_mean": -0.49423240581083305, "alignment_abs_mean": 0.49423240581083305, "alignment_min": -0.9328645361057888, "alignment_max": -0.2325446051981184, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 55, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474828481674194, "tray_grasped_left": false, "left_arm_pose": [0.31093013286590576, -0.0952477902173996, 1.1864923238754272, 0.16555821895599365, 0.8911161422729492, 0.4155689477920532, 0.07619098573923111], "right_arm_pose": [0.42231470346450806, -0.2246473729610443, 1.1603362560272217, 0.32248732447624207, 0.719491720199585, 0.6138712763786316, 0.038675881922245026], "left_arm_joint_positions": [-0.2703423500061035, 0.024264365434646606, -0.3095719516277313, -1.9449241161346436, 0.8782867193222046, 1.6853690147399902, 0.4527662992477417], "right_arm_joint_positions": [0.25788092613220215, -0.029599636793136597, 0.15269210934638977, -2.192579507827759, -0.799315333366394, 1.0086555480957031, -1.1279903650283813], "pregrasp_goal_pose": [0.3877460116663537, 0.1330405034149607, 1.0409311285020586, 0.15529646968940897, 0.7455643870448958, 0.6336363426629663, 0.13609458670011523], "pregrasp_position_error": 0.28143256002812445, "pregrasp_orientation_error_deg": 30.934186051326943}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877460116663537, 0.1330405034149607, 1.0409311285020586, 0.15529646968940897, 0.7455643870448958, 0.6336363426629663, 0.13609458670011523], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196257181844573, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.017497539520263672, "door_quality": 0.0873711938571542, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.124815991224506, "step_quality_min": -0.7939818774563515, "step_quality_max": 0.5747515934824285, "alignment_signed_mean": -0.4714630887474619, "alignment_abs_mean": 0.4714630887474619, "alignment_min": -0.9299828641988477, "alignment_max": -0.14848648601803263, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1180754056660107, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024188756942749023, "door_quality": 0.047926024428456615, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06846574918350945, "step_quality_min": -0.7307774874283384, "step_quality_max": 0.5696335963187571, "alignment_signed_mean": -0.533494544412631, "alignment_abs_mean": 0.533494544412631, "alignment_min": -0.8773032634134462, "alignment_max": -0.25177708676558935, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677460116663537, 0.1330405034149607, 1.0409311285020586, 0.15529646968940897, 0.7455643870448958, 0.6336363426629663, 0.13609458670011523], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1347734504190357, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022223949432373047, "door_quality": 0.025323393381523215, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.03617627625931888, "step_quality_min": -0.563318063589368, "step_quality_max": 0.5789596494921694, "alignment_signed_mean": -0.557819559632793, "alignment_abs_mean": 0.557819559632793, "alignment_min": -0.8481012732253019, "alignment_max": -0.20469382559823482, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1348508402019872, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023856639862060547, "door_quality": 0.016892519426086838, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.024132170608695484, "step_quality_min": -0.5524364523060039, "step_quality_max": 0.5264829815668877, "alignment_signed_mean": -0.5892756218311067, "alignment_abs_mean": 0.5892756218311067, "alignment_min": -0.8481034350855022, "alignment_max": -0.36448792510844513, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077460116663537, 0.1330405034149607, 1.0409311285020586, 0.15529646968940897, 0.7455643870448958, 0.6336363426629663, 0.13609458670011523], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070697831932048, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02375936508178711, "door_quality": 0.06414561305463479, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09163659007804971, "step_quality_min": -0.7033220602677457, "step_quality_max": 0.562145995752438, "alignment_signed_mean": -0.4679917022204293, "alignment_abs_mean": 0.4679917022204293, "alignment_min": -0.9305729702084683, "alignment_max": -0.2415552156347829, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1070768354952067, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022930622100830078, "door_quality": 0.06712533524588951, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09589333606555646, "step_quality_min": -0.6863659960866793, "step_quality_max": 0.5538381233063938, "alignment_signed_mean": -0.4974226540111187, "alignment_abs_mean": 0.4974226540111187, "alignment_min": -0.9249892875807083, "alignment_max": -0.2713543123722024, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 56, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474828481674194, "tray_grasped_left": false, "left_arm_pose": [0.3108985424041748, -0.0952187106013298, 1.1865490674972534, 0.1655253767967224, 0.8911131024360657, 0.4155794382095337, 0.07623998075723648], "right_arm_pose": [0.4268984794616699, -0.22302135825157166, 1.1579481363296509, 0.2991723120212555, 0.7195028066635132, 0.6248665452003479, 0.04851292446255684], "left_arm_joint_positions": [-0.2703433036804199, 0.023949652910232544, -0.3095667064189911, -1.9447805881500244, 0.8783196210861206, 1.6853814125061035, 0.4527958631515503], "right_arm_joint_positions": [0.2630603313446045, -0.03392598032951355, 0.1557767689228058, -2.2188596725463867, -0.8153220415115356, 1.0043492317199707, -1.1664029359817505], "pregrasp_goal_pose": [0.3877459162710703, 0.13303986290995923, 1.0409316578258008, 0.15529835838244593, 0.7455640255488635, 0.633636781249213, 0.13609236987879886], "pregrasp_position_error": 0.28144613205917507, "pregrasp_orientation_error_deg": 30.93160689308244}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877459162710703, 0.13303986290995923, 1.0409316578258008, 0.15529835838244593, 0.7455640255488635, 0.633636781249213, 0.13609236987879886], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1195779788073117, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022159099578857422, "door_quality": 0.0656844621838854, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09383494597697917, "step_quality_min": -0.7678005067854332, "step_quality_max": 0.5474971996942234, "alignment_signed_mean": -0.525719002789927, "alignment_abs_mean": 0.525719002789927, "alignment_min": -0.9207171728277411, "alignment_max": -0.24725521246638305, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.118015093861377, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024322986602783203, "door_quality": 0.04772693948080211, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06818134211543159, "step_quality_min": -0.7583010911950765, "step_quality_max": 0.5518570987385777, "alignment_signed_mean": -0.5359303901281836, "alignment_abs_mean": 0.5359303901281836, "alignment_min": -0.8950350592650037, "alignment_max": -0.2898759643730454, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677459162710703, 0.13303986290995923, 1.0409316578258008, 0.15529835838244593, 0.7455640255488635, 0.633636781249213, 0.13609236987879886], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134813849927126, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021179914474487305, "door_quality": 0.03730177563824976, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.05328825091178538, "step_quality_min": -0.5446210497932171, "step_quality_max": 0.5590475553367447, "alignment_signed_mean": -0.5464372230130807, "alignment_abs_mean": 0.5464372230130807, "alignment_min": -0.8467207602618582, "alignment_max": -0.23887992198571006, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1348073459538004, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02193164825439453, "door_quality": 0.02997919805570601, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04282742579386573, "step_quality_min": -0.5561985551181808, "step_quality_max": 0.5955384635475856, "alignment_signed_mean": -0.5412947579108969, "alignment_abs_mean": 0.5412947579108969, "alignment_min": -0.8458572047941098, "alignment_max": -0.1298106195789671, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077459162710703, 0.13303986290995923, 1.0409316578258008, 0.15529835838244593, 0.7455640255488635, 0.633636781249213, 0.13609236987879886], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070365977459757, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023655176162719727, "door_quality": 0.0673558915074134, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09622270215344772, "step_quality_min": -0.6955707132034695, "step_quality_max": 0.5229360849682647, "alignment_signed_mean": -0.5052721462435711, "alignment_abs_mean": 0.5052721462435711, "alignment_min": -0.9284258159633364, "alignment_max": -0.3022077291772305, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1069093319707828, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023260116577148438, "door_quality": 0.05965480684040558, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08522115262915084, "step_quality_min": -0.6936394738872262, "step_quality_max": 0.5680089292592776, "alignment_signed_mean": -0.4921205460686728, "alignment_abs_mean": 0.4921205460686728, "alignment_min": -0.9322230759490446, "alignment_max": -0.1863006066943341, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 57, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.3109323978424072, -0.09522899985313416, 1.1864991188049316, 0.1655505895614624, 0.891116201877594, 0.4155677855014801, 0.07621274143457413], "right_arm_pose": [0.4314158856868744, -0.22135964035987854, 1.1556934118270874, 0.2758603096008301, 0.7187063097953796, 0.6355549097061157, 0.05858708918094635], "left_arm_joint_positions": [-0.270338773727417, 0.024075061082839966, -0.3095526397228241, -1.9449310302734375, 0.878334641456604, 1.6854159832000732, 0.4527655839920044], "right_arm_joint_positions": [0.2682011127471924, -0.0381750762462616, 0.15883949398994446, -2.245264768600464, -0.8313308954238892, 1.000084638595581, -1.204776406288147], "pregrasp_goal_pose": [0.3877461989365131, 0.13304034551050353, 1.0409308668614363, 0.1552996257942731, 0.7455617427334074, 0.6336394729949959, 0.13609089706188038], "pregrasp_position_error": 0.2814202729818047, "pregrasp_orientation_error_deg": 30.934055581758532}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877461989365131, 0.13304034551050353, 1.0409308668614363, 0.1552996257942731, 0.7455617427334074, 0.6336394729949959, 0.13609089706188038], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1195848732360865, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023708581924438477, "door_quality": 0.055984932185297986, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0799784745504257, "step_quality_min": -0.7516570989366717, "step_quality_max": 0.5750555984404487, "alignment_signed_mean": -0.531097840894401, "alignment_abs_mean": 0.531097840894401, "alignment_min": -0.9120846355937344, "alignment_max": -0.2132229843602564, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.117957906311069, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023461103439331055, "door_quality": 0.04945212090347078, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07064588700495826, "step_quality_min": -0.7250597898273408, "step_quality_max": 0.5728195872437387, "alignment_signed_mean": -0.5311817981281346, "alignment_abs_mean": 0.5311817981281346, "alignment_min": -0.8774079284026084, "alignment_max": -0.23444046252398193, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774619893651306, 0.13304034551050353, 1.0409308668614363, 0.1552996257942731, 0.7455617427334074, 0.6336394729949959, 0.13609089706188038], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1347558840376457, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021572113037109375, "door_quality": 0.03415668916325556, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04879527023322223, "step_quality_min": -0.5426700178242692, "step_quality_max": 0.5878572024628647, "alignment_signed_mean": -0.5354033757810852, "alignment_abs_mean": 0.5354033757810852, "alignment_min": -0.8521476287151136, "alignment_max": -0.09359190974378231, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1348570526590414, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022513866424560547, "door_quality": 0.026812202998225086, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.038303147140321556, "step_quality_min": -0.5358034726334377, "step_quality_max": 0.5513292992924322, "alignment_signed_mean": -0.5669229410072839, "alignment_abs_mean": 0.5669229410072839, "alignment_min": -0.8475912841557963, "alignment_max": -0.2863165314919404, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077461989365131, 0.13304034551050353, 1.0409308668614363, 0.1552996257942731, 0.7455617427334074, 0.6336394729949959, 0.13609089706188038], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.107003198935694, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02394843101501465, "door_quality": 0.06848564932728103, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09783664189611577, "step_quality_min": -0.7076344113348579, "step_quality_max": 0.5260983578197502, "alignment_signed_mean": -0.5012672729298178, "alignment_abs_mean": 0.5012672729298178, "alignment_min": -0.9282388228780093, "alignment_max": -0.2954810964736161, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1069529041506312, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024732112884521484, "door_quality": 0.05968060143834056, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08525800205477223, "step_quality_min": -0.5844490740188579, "step_quality_max": 0.5121429428289974, "alignment_signed_mean": -0.5192831380925923, "alignment_abs_mean": 0.5192831380925923, "alignment_min": -0.9273596478809921, "alignment_max": -0.29278822908743624, "door_contact_steps": 12, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 58, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.31090590357780457, -0.09523169696331024, 1.1864769458770752, 0.16554997861385345, 0.8911126255989075, 0.4155818521976471, 0.07617916911840439], "right_arm_pose": [0.43585824966430664, -0.21967417001724243, 1.1535067558288574, 0.2525416314601898, 0.7170968651771545, 0.6459404230117798, 0.06896332651376724], "left_arm_joint_positions": [-0.2703437805175781, 0.024243861436843872, -0.30956313014030457, -1.945091724395752, 0.8782743215560913, 1.6853601932525635, 0.4527488946914673], "right_arm_joint_positions": [0.27338290214538574, -0.0419449508190155, 0.161880761384964, -2.271733283996582, -0.8473297357559204, 0.9957728385925293, -1.2432488203048706], "pregrasp_goal_pose": [0.3877483511679488, 0.13303822865257633, 1.0409299235270886, 0.15529611095681198, 0.7455625426884501, 0.6336385073121769, 0.1360950216312818], "pregrasp_position_error": 0.281417583685302, "pregrasp_orientation_error_deg": 30.933356346965123}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877483511679488, 0.13303822865257633, 1.0409299235270886, 0.15529611095681198, 0.7455625426884501, 0.6336385073121769, 0.1360950216312818], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119584019279481, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023465871810913086, "door_quality": 0.055810353439427696, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07972907634203957, "step_quality_min": -0.7517428146023623, "step_quality_max": 0.5625872350804988, "alignment_signed_mean": -0.5274015919836004, "alignment_abs_mean": 0.5274015919836004, "alignment_min": -0.9204277543314591, "alignment_max": -0.21379054731479114, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.118111846237624, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02368640899658203, "door_quality": 0.05021966634169505, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07174238048813579, "step_quality_min": -0.7363253269176246, "step_quality_max": 0.5701105801868686, "alignment_signed_mean": -0.5202789021736397, "alignment_abs_mean": 0.5202789021736397, "alignment_min": -0.8830798767380112, "alignment_max": -0.2618853009699543, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677483511679488, 0.13303822865257633, 1.0409299235270886, 0.15529611095681198, 0.7455625426884501, 0.6336385073121769, 0.1360950216312818], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134728533809449, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022619247436523438, "door_quality": 0.02605320963828388, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.037218870911834116, "step_quality_min": -0.5553441955238463, "step_quality_max": 0.5504568394471455, "alignment_signed_mean": -0.5635455740884626, "alignment_abs_mean": 0.5635455740884626, "alignment_min": -0.8503431770451199, "alignment_max": -0.28502831039366694, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.134795442239692, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021178722381591797, "door_quality": 0.03434332452341121, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04906189217630173, "step_quality_min": -0.5426450810788436, "step_quality_max": 0.5791082047209056, "alignment_signed_mean": -0.5450107420054483, "alignment_abs_mean": 0.5450107420054483, "alignment_min": -0.8479671512973038, "alignment_max": -0.1857358700111947, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774835116794883, 0.13303822865257633, 1.0409299235270886, 0.15529611095681198, 0.7455625426884501, 0.6336385073121769, 0.1360950216312818], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106979472259885, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02437448501586914, "door_quality": 0.05546160225863535, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07923086036947907, "step_quality_min": -0.7019841246825842, "step_quality_max": 0.5565740369685068, "alignment_signed_mean": -0.48574636114363756, "alignment_abs_mean": 0.48574636114363756, "alignment_min": -0.9286548341102004, "alignment_max": -0.21391116433959476, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1069713709893774, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023645877838134766, "door_quality": 0.06058664052502364, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08655234360717663, "step_quality_min": -0.6955080588418235, "step_quality_max": 0.5858427635518486, "alignment_signed_mean": -0.48813434392724175, "alignment_abs_mean": 0.48813434392724175, "alignment_min": -0.9295333221935485, "alignment_max": -0.1375910681050148, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 59, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31093189120292664, -0.09526346623897552, 1.1865150928497314, 0.16555364429950714, 0.8911101818084717, 0.41557836532592773, 0.07621961086988449], "right_arm_pose": [0.4402444660663605, -0.21797721087932587, 1.151484727859497, 0.2293303906917572, 0.7147064208984375, 0.6559531092643738, 0.07954863458871841], "left_arm_joint_positions": [-0.27036070823669434, 0.02435353398323059, -0.3095986545085907, -1.9448297023773193, 0.87836754322052, 1.685377597808838, 0.45276176929473877], "right_arm_joint_positions": [0.2785000801086426, -0.04619547724723816, 0.16491225361824036, -2.2980194091796875, -0.8633550405502319, 0.9915249347686768, -1.281652808189392], "pregrasp_goal_pose": [0.38774623106900785, 0.1330403081484878, 1.0409291805662104, 0.15529526491905224, 0.7455604359570506, 0.6336409766981118, 0.13609603108951024], "pregrasp_position_error": 0.2814574818050653, "pregrasp_orientation_error_deg": 30.932897404746566}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774623106900785, 0.1330403081484878, 1.0409291805662104, 0.15529526491905224, 0.7455604359570506, 0.6336409766981118, 0.13609603108951024], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196176996854525, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023899316787719727, "door_quality": 0.05208774697021695, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07441106710030994, "step_quality_min": -0.7645285773299425, "step_quality_max": 0.5459232028534478, "alignment_signed_mean": -0.5443116728157835, "alignment_abs_mean": 0.5443116728157835, "alignment_min": -0.9113055163566127, "alignment_max": -0.305455358718601, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1181741412438087, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024082183837890625, "door_quality": 0.05122538389519355, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0731791198502765, "step_quality_min": -0.7441537823982141, "step_quality_max": 0.5514344835878466, "alignment_signed_mean": -0.5378560032882466, "alignment_abs_mean": 0.5378560032882466, "alignment_min": -0.8918118138681855, "alignment_max": -0.29845063656516163, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774623106900783, 0.1330403081484878, 1.0409291805662104, 0.15529526491905224, 0.7455604359570506, 0.6336409766981118, 0.13609603108951024], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1347958284440425, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022589445114135742, "door_quality": 0.021985104666885164, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.03140729238126452, "step_quality_min": -0.5416259408413437, "step_quality_max": 0.5562194389120585, "alignment_signed_mean": -0.5683805395348297, "alignment_abs_mean": 0.5683805395348297, "alignment_min": -0.8477768170112244, "alignment_max": -0.2799618035476182, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1348750441667066, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0236208438873291, "door_quality": 0.017063251261356525, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.024376073230509325, "step_quality_min": -0.543703454790726, "step_quality_max": 0.5348062530195314, "alignment_signed_mean": -0.5847588779347811, "alignment_abs_mean": 0.5847588779347811, "alignment_min": -0.8514270969828469, "alignment_max": -0.31076955048461874, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774623106900787, 0.1330403081484878, 1.0409291805662104, 0.15529526491905224, 0.7455604359570506, 0.6336409766981118, 0.13609603108951024], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.107031660395878, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024476289749145508, "door_quality": 0.06348354748452462, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09069078212074945, "step_quality_min": -0.728757321768056, "step_quality_max": 0.502928548332544, "alignment_signed_mean": -0.4921188431607778, "alignment_abs_mean": 0.4921188431607778, "alignment_min": -0.9393649763939005, "alignment_max": -0.31196734668566867, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.106890196660276, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024163246154785156, "door_quality": 0.05850821606092988, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08358316580132841, "step_quality_min": -0.6965684398381272, "step_quality_max": 0.5427123276414458, "alignment_signed_mean": -0.4961133944922092, "alignment_abs_mean": 0.4961133944922092, "alignment_min": -0.9317390696571295, "alignment_max": -0.25192727246781954, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 60, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109235167503357, -0.09523528814315796, 1.186547040939331, 0.16553324460983276, 0.8911222219467163, 0.4155588448047638, 0.07622919231653214], "right_arm_pose": [0.444572776556015, -0.21628399193286896, 1.1496434211730957, 0.20620590448379517, 0.7115511298179626, 0.6655983328819275, 0.09029481559991837], "left_arm_joint_positions": [-0.2703409194946289, 0.02422979474067688, -0.3095669448375702, -1.9447450637817383, 0.8783143758773804, 1.6854040622711182, 0.45277416706085205], "right_arm_joint_positions": [0.28368449211120605, -0.050363510847091675, 0.16798332333564758, -2.324488878250122, -0.8793944120407104, 0.9871888160705566, -1.3200491666793823], "pregrasp_goal_pose": [0.38774828695840347, 0.13303753936426882, 1.0409300536257133, 0.1552966035847975, 0.7455613340135091, 0.6336399311999661, 0.1360944514957356], "pregrasp_position_error": 0.28145130323033174, "pregrasp_orientation_error_deg": 30.93494306813275}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774828695840347, 0.13303753936426882, 1.0409300536257133, 0.1552966035847975, 0.7455613340135091, 0.6336399311999661, 0.1360944514957356], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196886084165742, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02445077896118164, "door_quality": 0.048679287924120296, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06954183989160043, "step_quality_min": -0.7539910697725811, "step_quality_max": 0.5546273428105943, "alignment_signed_mean": -0.5391203859921015, "alignment_abs_mean": 0.5391203859921015, "alignment_min": -0.9128608949961655, "alignment_max": -0.31004752819556297, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1181507529675174, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02402353286743164, "door_quality": 0.051797276484223304, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07399610926317615, "step_quality_min": -0.7219368156418307, "step_quality_max": 0.5476863125172831, "alignment_signed_mean": -0.5434820225335946, "alignment_abs_mean": 0.5434820225335946, "alignment_min": -0.8853100533210044, "alignment_max": -0.3161186083120221, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774828695840345, 0.13303753936426882, 1.0409300536257133, 0.1552966035847975, 0.7455613340135091, 0.6336399311999661, 0.1360944514957356], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1349767494374854, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022603750228881836, "door_quality": 0.02574605410271363, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0367800772895909, "step_quality_min": -0.536567826722349, "step_quality_max": 0.5510869687406178, "alignment_signed_mean": -0.5664326764512383, "alignment_abs_mean": 0.5664326764512383, "alignment_min": -0.8485973893881428, "alignment_max": -0.29658809025687216, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1349303105168282, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021262645721435547, "door_quality": 0.035264801450309226, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.05037828778615604, "step_quality_min": -0.5647089565203968, "step_quality_max": 0.5579461636353934, "alignment_signed_mean": -0.5371219493276302, "alignment_abs_mean": 0.5371219493276302, "alignment_min": -0.8481001292141638, "alignment_max": -0.2211410690300644, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077482869584035, 0.13303753936426882, 1.0409300536257133, 0.1552966035847975, 0.7455613340135091, 0.6336399311999661, 0.1360944514957356], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.107082974768559, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02410602569580078, "door_quality": 0.059865481300408196, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08552211614344028, "step_quality_min": -0.6721184040859044, "step_quality_max": 0.5131725188435337, "alignment_signed_mean": -0.4888831084244013, "alignment_abs_mean": 0.4888831084244013, "alignment_min": -0.924933988011019, "alignment_max": -0.2844716218865775, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1070899290343936, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01637864112854004, "door_quality": 0.10261987117221959, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.1465998159603137, "step_quality_min": -0.7332486046878338, "step_quality_max": 0.6053140541981329, "alignment_signed_mean": -0.41582889569729237, "alignment_abs_mean": 0.44843095024604795, "alignment_min": -0.9518463263448624, "alignment_max": 0.16953068365352897, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 61, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109109103679657, -0.09522669017314911, 1.1865613460540771, 0.16551938652992249, 0.8911124467849731, 0.415579229593277, 0.07626214623451233], "right_arm_pose": [0.4487198293209076, -0.21461166441440582, 1.1479519605636597, 0.18387694656848907, 0.7077469825744629, 0.6745903491973877, 0.1010514423251152], "left_arm_joint_positions": [-0.27033519744873047, 0.02394583821296692, -0.3095690906047821, -1.9447827339172363, 0.8783413171768188, 1.6854007244110107, 0.4527517557144165], "right_arm_joint_positions": [0.28865718841552734, -0.0544266402721405, 0.1709161102771759, -2.3498952388763428, -0.8949006795883179, 0.9829561710357666, -1.3575111627578735], "pregrasp_goal_pose": [0.38774572327412876, 0.13304032086177542, 1.0409313209938198, 0.15529946766613784, 0.7455622022472838, 0.6336389318760934, 0.13609107955232702], "pregrasp_position_error": 0.2814560729495717, "pregrasp_orientation_error_deg": 30.931266210293305}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774572327412876, 0.13304032086177542, 1.0409313209938198, 0.15529946766613784, 0.7455622022472838, 0.6336389318760934, 0.13609107955232702], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1195998791199608, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023787975311279297, "door_quality": 0.05507643765732636, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07868062522475194, "step_quality_min": -0.754449386366388, "step_quality_max": 0.5733927944047312, "alignment_signed_mean": -0.5331219167228809, "alignment_abs_mean": 0.5331219167228809, "alignment_min": -0.9108745316616174, "alignment_max": -0.20859087569362877, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.118028899880166, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0234987735748291, "door_quality": 0.05328144672657172, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07611635246653103, "step_quality_min": -0.7410082296742867, "step_quality_max": 0.5837827486790435, "alignment_signed_mean": -0.5229862113783165, "alignment_abs_mean": 0.5229862113783165, "alignment_min": -0.8871413460715704, "alignment_max": -0.19514570484697105, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774572327412874, 0.13304032086177542, 1.0409313209938198, 0.15529946766613784, 0.7455622022472838, 0.6336389318760934, 0.13609107955232702], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348122173761712, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020426034927368164, "door_quality": 0.03963932128624964, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.056627601837499486, "step_quality_min": -0.5419657918126353, "step_quality_max": 0.5868206926884866, "alignment_signed_mean": -0.5200321638762287, "alignment_abs_mean": 0.5200321638762287, "alignment_min": -0.8499280428465416, "alignment_max": -0.11954071685541862, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.134781149349199, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02142047882080078, "door_quality": 0.0266428001113704, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.03806114301624343, "step_quality_min": -0.5586532922236499, "step_quality_max": 0.5751836874665243, "alignment_signed_mean": -0.5670893969494154, "alignment_abs_mean": 0.5670893969494154, "alignment_min": -0.8501078811237958, "alignment_max": -0.2888526426844684, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077457232741288, 0.13304032086177542, 1.0409313209938198, 0.15529946766613784, 0.7455622022472838, 0.6336389318760934, 0.13609107955232702], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.107040220804314, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02440500259399414, "door_quality": 0.056675430965445125, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08096490137920732, "step_quality_min": -0.5822553411337307, "step_quality_max": 0.575233519247891, "alignment_signed_mean": -0.517023081986183, "alignment_abs_mean": 0.517023081986183, "alignment_min": -0.930653359294171, "alignment_max": -0.18682259235917786, "door_contact_steps": 12, "path_steps": 28}, {"path_found": true, "path_length": 1.1070399498799155, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022774934768676758, "door_quality": 0.0733536840245808, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.10479097717797257, "step_quality_min": -0.6894786242687696, "step_quality_max": 0.5265207804383135, "alignment_signed_mean": -0.5177757900485883, "alignment_abs_mean": 0.5177757900485883, "alignment_min": -0.9362612328524667, "alignment_max": -0.2990782504867233, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 62, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3109434247016907, -0.09525255858898163, 1.1864629983901978, 0.1655750870704651, 0.8911145329475403, 0.4155702292919159, 0.07616549730300903], "right_arm_pose": [0.4521699845790863, -0.21312862634658813, 1.1466747522354126, 0.16432799398899078, 0.7038448452949524, 0.6821374893188477, 0.11084744334220886], "left_arm_joint_positions": [-0.27033448219299316, 0.024326592683792114, -0.30955740809440613, -1.9449684619903564, 0.8783570528030396, 1.6853790283203125, 0.4527655839920044], "right_arm_joint_positions": [0.2928955554962158, -0.057458847761154175, 0.17340686917304993, -2.371619939804077, -0.9083999395370483, 0.9791741371154785, -1.3905967473983765], "pregrasp_goal_pose": [0.38774555185247916, 0.1330403174128732, 1.0409321970102676, 0.1552981450377481, 0.7455666188702105, 0.6336337323101207, 0.13609260175712384], "pregrasp_position_error": 0.2814168049679493, "pregrasp_orientation_error_deg": 30.934254074468463}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774555185247916, 0.1330403174128732, 1.0409321970102676, 0.1552981450377481, 0.7455666188702105, 0.6336337323101207, 0.13609260175712384], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1195700814483067, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0245821475982666, "door_quality": 0.049672111169218096, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07096015881316871, "step_quality_min": -0.7643038962663743, "step_quality_max": 0.5610656772694862, "alignment_signed_mean": -0.544658735294994, "alignment_abs_mean": 0.544658735294994, "alignment_min": -0.9185393580416715, "alignment_max": -0.2602605647634088, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.118059537158212, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024705171585083008, "door_quality": 0.0433875675350781, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06198223933582586, "step_quality_min": -0.765523589999767, "step_quality_max": 0.5469232837794259, "alignment_signed_mean": -0.5327467095345451, "alignment_abs_mean": 0.5327467095345451, "alignment_min": -0.8929126008263256, "alignment_max": -0.3352751662317096, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774555185247915, 0.1330403174128732, 1.0409321970102676, 0.1552981450377481, 0.7455666188702105, 0.6336337323101207, 0.13609260175712384], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348100544165767, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02083897590637207, "door_quality": 0.03425250233535541, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04893214619336487, "step_quality_min": -0.5513775117197044, "step_quality_max": 0.6086827658218088, "alignment_signed_mean": -0.5253973147596589, "alignment_abs_mean": 0.5253973147596589, "alignment_min": -0.8490270122798022, "alignment_max": -0.08564214775863128, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1348352781041524, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020986080169677734, "door_quality": 0.03548525083098332, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.050693215472833314, "step_quality_min": -0.5653787548981359, "step_quality_max": 0.599053259212463, "alignment_signed_mean": -0.5297652798682329, "alignment_abs_mean": 0.5297652798682329, "alignment_min": -0.8507866015570704, "alignment_max": -0.09976734956756768, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077455518524792, 0.1330403174128732, 1.0409321970102676, 0.1552981450377481, 0.7455666188702105, 0.6336337323101207, 0.13609260175712384], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1069298160232688, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02241230010986328, "door_quality": 0.07085751333735882, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.10122501905336974, "step_quality_min": -0.6738916479380339, "step_quality_max": 0.5451170624732249, "alignment_signed_mean": -0.4905483604949993, "alignment_abs_mean": 0.4905483604949993, "alignment_min": -0.9372947552313668, "alignment_max": -0.2861086072101665, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1069223151527166, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024341106414794922, "door_quality": 0.0683049323350713, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09757847476438758, "step_quality_min": -0.7143744326408502, "step_quality_max": 0.5268435187365068, "alignment_signed_mean": -0.5071069559152784, "alignment_abs_mean": 0.5071069559152784, "alignment_min": -0.9374752294201427, "alignment_max": -0.2786011997416389, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 63, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3109467029571533, -0.095235675573349, 1.1864959001541138, 0.16554780304431915, 0.8911179900169373, 0.41556742787361145, 0.07619944214820862], "right_arm_pose": [0.45487505197525024, -0.21195057034492493, 1.1457327604293823, 0.1489853411912918, 0.7003586292266846, 0.6879023909568787, 0.11870788782835007], "left_arm_joint_positions": [-0.27034735679626465, 0.024265795946121216, -0.3095650374889374, -1.9447362422943115, 0.8783622980117798, 1.6854486465454102, 0.45276010036468506], "right_arm_joint_positions": [0.2962009906768799, -0.0602545440196991, 0.17536595463752747, -2.3885984420776367, -0.9191190004348755, 0.9761223793029785, -1.4167276620864868], "pregrasp_goal_pose": [0.3877449332814997, 0.133040576058869, 1.0409309309384185, 0.1553006837653775, 0.7455601049983096, 0.6336414051769209, 0.13608966567059017], "pregrasp_position_error": 0.28141992733808563, "pregrasp_orientation_error_deg": 30.934778468771036}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877449332814997, 0.133040576058869, 1.0409309309384185, 0.1553006837653775, 0.7455601049983096, 0.6336414051769209, 0.13608966567059017], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1195864036039793, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02390456199645996, "door_quality": 0.052678843862823954, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07525549123260565, "step_quality_min": -0.7391137689491749, "step_quality_max": 0.56762223901193, "alignment_signed_mean": -0.5330080918105669, "alignment_abs_mean": 0.5330080918105669, "alignment_min": -0.9095397871267581, "alignment_max": -0.22094508698380755, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1181534750332205, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023334980010986328, "door_quality": 0.05161212273790205, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07373160391128865, "step_quality_min": -0.7485356656185057, "step_quality_max": 0.582803902537521, "alignment_signed_mean": -0.5243792346205586, "alignment_abs_mean": 0.5243792346205586, "alignment_min": -0.8847390939414803, "alignment_max": -0.20900447412880108, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677449332814997, 0.133040576058869, 1.0409309309384185, 0.1553006837653775, 0.7455601049983096, 0.6336414051769209, 0.13608966567059017], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348282077122622, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021824359893798828, "door_quality": 0.029001302550828775, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04143043221546968, "step_quality_min": -0.5589277895179926, "step_quality_max": 0.5869538821930884, "alignment_signed_mean": -0.5499434243339764, "alignment_abs_mean": 0.5499434243339764, "alignment_min": -0.8493431570073953, "alignment_max": -0.16696379673719447, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1347120241188342, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0227968692779541, "door_quality": 0.021849344358476002, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.031213349083537147, "step_quality_min": -0.5460827127829571, "step_quality_max": 0.5519307026286471, "alignment_signed_mean": -0.5663116336372376, "alignment_abs_mean": 0.5663116336372376, "alignment_min": -0.8476641735408108, "alignment_max": -0.25050311832649064, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774493328149974, 0.133040576058869, 1.0409309309384185, 0.1553006837653775, 0.7455601049983096, 0.6336414051769209, 0.13608966567059017], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070046029128953, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023755550384521484, "door_quality": 0.06656806086054648, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0950972298007807, "step_quality_min": -0.6944980419691824, "step_quality_max": 0.5514217519212223, "alignment_signed_mean": -0.4828690420622382, "alignment_abs_mean": 0.4828690420622382, "alignment_min": -0.9301738797789422, "alignment_max": -0.2604388478157638, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1069170099212366, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0250394344329834, "door_quality": 0.05696691457548973, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08138130653641391, "step_quality_min": -0.7027797364364077, "step_quality_max": 0.5732126241227053, "alignment_signed_mean": -0.4933872492977029, "alignment_abs_mean": 0.4933872492977029, "alignment_min": -0.9347892013411513, "alignment_max": -0.1735143635173331, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 64, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109537661075592, -0.09524543583393097, 1.1865075826644897, 0.16555528342723846, 0.8911176323890686, 0.41556233167648315, 0.07621598988771439], "right_arm_pose": [0.45672568678855896, -0.21112275123596191, 1.1451749801635742, 0.13818229734897614, 0.697706937789917, 0.6918514966964722, 0.12430723756551743], "left_arm_joint_positions": [-0.2703533172607422, 0.024445325136184692, -0.30959364771842957, -1.9449093341827393, 0.8783332109451294, 1.6854135990142822, 0.4527548551559448], "right_arm_joint_positions": [0.29852724075317383, -0.06216713786125183, 0.17674973607063293, -2.4003560543060303, -0.9266306161880493, 0.9739789962768555, -1.4351211786270142], "pregrasp_goal_pose": [0.3877455394222419, 0.13304072684175938, 1.0409307351497008, 0.15529640146988558, 0.7455636227527608, 0.633637240271988, 0.13609467241145784], "pregrasp_position_error": 0.2814323489763561, "pregrasp_orientation_error_deg": 30.93437723102725}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877455394222419, 0.13304072684175938, 1.0409307351497008, 0.15529640146988558, 0.7455636227527608, 0.633637240271988, 0.13609467241145784], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1195943966562087, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0241086483001709, "door_quality": 0.05487558736934061, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07839369624191517, "step_quality_min": -0.7446693219661774, "step_quality_max": 0.5615112840272771, "alignment_signed_mean": -0.5430512822421744, "alignment_abs_mean": 0.5430512822421744, "alignment_min": -0.9102331445752936, "alignment_max": -0.2567689125052159, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.118099365187615, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023872852325439453, "door_quality": 0.04724724347601511, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06749606210859302, "step_quality_min": -0.739385791360542, "step_quality_max": 0.5583564430716589, "alignment_signed_mean": -0.5364764533168062, "alignment_abs_mean": 0.5364764533168062, "alignment_min": -0.8899555559937898, "alignment_max": -0.30122487234922524, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774553942224186, 0.13304072684175938, 1.0409307351497008, 0.15529640146988558, 0.7455636227527608, 0.633637240271988, 0.13609467241145784], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134762776610569, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02370309829711914, "door_quality": 0.019638224561796883, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.028054606516852692, "step_quality_min": -0.5397158707278216, "step_quality_max": 0.5250015638548213, "alignment_signed_mean": -0.5832213469551728, "alignment_abs_mean": 0.5832213469551728, "alignment_min": -0.8485363589973964, "alignment_max": -0.31942606795141554, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1347770452729562, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022866487503051758, "door_quality": 0.019400365450701746, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.02771480778671678, "step_quality_min": -0.5554797473271691, "step_quality_max": 0.5558575526114768, "alignment_signed_mean": -0.5671597286752463, "alignment_abs_mean": 0.5671597286752463, "alignment_min": -0.8487107721585381, "alignment_max": -0.27194867954340995, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077455394222419, 0.13304072684175938, 1.0409307351497008, 0.15529640146988558, 0.7455636227527608, 0.633637240271988, 0.13609467241145784], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1069363339151645, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023304462432861328, "door_quality": 0.0648355652413242, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09262223605903457, "step_quality_min": -0.7035182318116484, "step_quality_max": 0.5357907233246134, "alignment_signed_mean": -0.49606071599043794, "alignment_abs_mean": 0.49606071599043794, "alignment_min": -0.9314195601303218, "alignment_max": -0.29570209946675535, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.106968005351375, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024356842041015625, "door_quality": 0.05900837042517197, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08429767203595996, "step_quality_min": -0.6811609299180632, "step_quality_max": 0.5545100573443986, "alignment_signed_mean": -0.5069494392100529, "alignment_abs_mean": 0.5069494392100529, "alignment_min": -0.9315312701261642, "alignment_max": -0.23197966628093636, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 65, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109392523765564, -0.0952378585934639, 1.1864569187164307, 0.16557489335536957, 0.891112744808197, 0.4155716598033905, 0.07617894560098648], "right_arm_pose": [0.45779433846473694, -0.21065114438533783, 1.1448695659637451, 0.1320774108171463, 0.6961321830749512, 0.6940475106239319, 0.1274903118610382], "left_arm_joint_positions": [-0.27033329010009766, 0.024315625429153442, -0.30957290530204773, -1.9449498653411865, 0.8783410787582397, 1.6853575706481934, 0.4528003931045532], "right_arm_joint_positions": [0.2998316287994385, -0.06312915682792664, 0.1775229275226593, -2.4068994522094727, -0.9308041334152222, 0.9727990627288818, -1.4454351663589478], "pregrasp_goal_pose": [0.3877455496831233, 0.13304071290100367, 1.0409311598091415, 0.15529926290271687, 0.7455619250480225, 0.6336392561122572, 0.13609132218501235], "pregrasp_position_error": 0.28140373134527186, "pregrasp_orientation_error_deg": 30.934434456263332}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877455496831233, 0.13304071290100367, 1.0409311598091415, 0.15529926290271687, 0.7455619250480225, 0.6336392561122572, 0.13609132218501235], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1195421119337816, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02400994300842285, "door_quality": 0.05178323549960248, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07397605071371784, "step_quality_min": -0.7730596845006691, "step_quality_max": 0.5626175385922957, "alignment_signed_mean": -0.5337339178691943, "alignment_abs_mean": 0.5337339178691943, "alignment_min": -0.9170354449676537, "alignment_max": -0.24618316580316998, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.118015535414449, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02370619773864746, "door_quality": 0.051338298762756134, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07334042680393733, "step_quality_min": -0.7226044168599605, "step_quality_max": 0.5736196250569303, "alignment_signed_mean": -0.5275371897826633, "alignment_abs_mean": 0.5275371897826633, "alignment_min": -0.8752321951105434, "alignment_max": -0.22991575258400074, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677455496831233, 0.13304071290100367, 1.0409311598091415, 0.15529926290271687, 0.7455619250480225, 0.6336392561122572, 0.13609132218501235], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134677347354448, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020597219467163086, "door_quality": 0.040351311263185294, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.057644730375978996, "step_quality_min": -0.5535508252135007, "step_quality_max": 0.567409960845454, "alignment_signed_mean": -0.5345941070948567, "alignment_abs_mean": 0.5345941070948567, "alignment_min": -0.8492718435702995, "alignment_max": -0.18338266800173372, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1347195056130117, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021877765655517578, "door_quality": 0.027804613311324455, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.03972087615903494, "step_quality_min": -0.5598637332444274, "step_quality_max": 0.5837203367442169, "alignment_signed_mean": -0.5554856272145664, "alignment_abs_mean": 0.5554856272145664, "alignment_min": -0.8470268173313138, "alignment_max": -0.19052249993370052, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077455496831233, 0.13304071290100367, 1.0409311598091415, 0.15529926290271687, 0.7455619250480225, 0.6336392561122572, 0.13609132218501235], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106983865428111, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023648738861083984, "door_quality": 0.07323193795636321, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.10461705422337601, "step_quality_min": -0.7254464449190516, "step_quality_max": 0.5313092847061996, "alignment_signed_mean": -0.5077572620190429, "alignment_abs_mean": 0.5077572620190429, "alignment_min": -0.9461775674095023, "alignment_max": -0.256768388779912, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1069035811760346, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02349996566772461, "door_quality": 0.06182775474002707, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0883253639143244, "step_quality_min": -0.6835837662016183, "step_quality_max": 0.5413817855959354, "alignment_signed_mean": -0.5076072511328401, "alignment_abs_mean": 0.5076072511328401, "alignment_min": -0.9268373575670078, "alignment_max": -0.2776757887333435, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 66, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3109007179737091, -0.09524737298488617, 1.1865513324737549, 0.1655389815568924, 0.891112208366394, 0.41557344794273376, 0.07625323534011841], "right_arm_pose": [0.458182156085968, -0.21045538783073425, 1.1447813510894775, 0.12976905703544617, 0.6955174207687378, 0.6948744058609009, 0.1287054568529129], "left_arm_joint_positions": [-0.2703413963317871, 0.02402666211128235, -0.3095833957195282, -1.944981336593628, 0.8783470392227173, 1.6854033470153809, 0.4527660608291626], "right_arm_joint_positions": [0.3002955913543701, -0.0636584460735321, 0.1777816116809845, -2.4093339443206787, -0.9323354959487915, 0.9723410606384277, -1.4491788148880005], "pregrasp_goal_pose": [0.38774615501849474, 0.13304067736709135, 1.0409301003265072, 0.1552955612041361, 0.7455629297232236, 0.6336380484964248, 0.13609566484814406], "pregrasp_position_error": 0.2814714876860421, "pregrasp_orientation_error_deg": 30.932115947228574}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774615501849474, 0.13304067736709135, 1.0409301003265072, 0.1552955612041361, 0.7455629297232236, 0.6336380484964248, 0.13609566484814406], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196318458605274, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023728132247924805, "door_quality": 0.05349500889871696, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07642144128388137, "step_quality_min": -0.7480013295335224, "step_quality_max": 0.5846371575374598, "alignment_signed_mean": -0.531603511651238, "alignment_abs_mean": 0.531603511651238, "alignment_min": -0.9102000482458739, "alignment_max": -0.1972394366168998, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1182576918778873, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02379322052001953, "door_quality": 0.05066722789769252, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07238175413956074, "step_quality_min": -0.7459688295397486, "step_quality_max": 0.5635143797259978, "alignment_signed_mean": -0.5348499912583183, "alignment_abs_mean": 0.5348499912583183, "alignment_min": -0.8874675827150261, "alignment_max": -0.25664780504432716, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677461550184947, 0.13304067736709135, 1.0409301003265072, 0.1552955612041361, 0.7455629297232236, 0.6336380484964248, 0.13609566484814406], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348525014206976, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02105116844177246, "door_quality": 0.033391358495174384, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04770194070739198, "step_quality_min": -0.5482551793599221, "step_quality_max": 0.5915932609016907, "alignment_signed_mean": -0.5436936279228985, "alignment_abs_mean": 0.5436936279228985, "alignment_min": -0.8451395893296634, "alignment_max": -0.1515631907308036, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1348449147910056, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023143768310546875, "door_quality": 0.02116540693926253, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.030236295627517902, "step_quality_min": -0.5440857352182553, "step_quality_max": 0.5420038947580106, "alignment_signed_mean": -0.5748641212926692, "alignment_abs_mean": 0.5748641212926692, "alignment_min": -0.8490368740635433, "alignment_max": -0.32713176440082975, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774615501849476, 0.13304067736709135, 1.0409301003265072, 0.1552955612041361, 0.7455629297232236, 0.6336380484964248, 0.13609566484814406], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070624436335346, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023572206497192383, "door_quality": 0.05795228654114066, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08278898077305809, "step_quality_min": -0.7006031191321079, "step_quality_max": 0.5428716209853953, "alignment_signed_mean": -0.5040727103510264, "alignment_abs_mean": 0.5040727103510264, "alignment_min": -0.9365215594165043, "alignment_max": -0.25971387459572864, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.107013669631961, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02365875244140625, "door_quality": 0.0664262459204033, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09489463702914759, "step_quality_min": -0.7021582208499504, "step_quality_max": 0.5557680146033226, "alignment_signed_mean": -0.4778677231545756, "alignment_abs_mean": 0.4778677231545756, "alignment_min": -0.9349270095864638, "alignment_max": -0.2616672435727425, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 67, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.310931533575058, -0.09522010385990143, 1.186108946800232, 0.1656980663537979, 0.8911042809486389, 0.41559985280036926, 0.07585583627223969], "right_arm_pose": [0.45823347568511963, -0.21043454110622406, 1.1446170806884766, 0.12947721779346466, 0.6954151391983032, 0.6949862241744995, 0.1289481818675995], "left_arm_joint_positions": [-0.2703392505645752, 0.024881869554519653, -0.30959436297416687, -1.9451286792755127, 0.8782933950424194, 1.6853713989257812, 0.4527961015701294], "right_arm_joint_positions": [0.30029916763305664, -0.06330057978630066, 0.17778280377388, -2.409557580947876, -0.9322725534439087, 0.972421407699585, -1.4491909742355347], "pregrasp_goal_pose": [0.38774612749201826, 0.13304070825136372, 1.0409316459969384, 0.15529994200204666, 0.7455630602711691, 0.6336379270913152, 0.13609051592477342], "pregrasp_position_error": 0.28121153755287454, "pregrasp_orientation_error_deg": 30.939930989716935}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774612749201826, 0.13304070825136372, 1.0409316459969384, 0.15529994200204666, 0.7455630602711691, 0.6336379270913152, 0.13609051592477342], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193126283749382, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023180723190307617, "door_quality": 0.05598331320084774, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07997616171549678, "step_quality_min": -0.7553091559841677, "step_quality_max": 0.5864998877594192, "alignment_signed_mean": -0.5185019328564653, "alignment_abs_mean": 0.5185019328564653, "alignment_min": -0.9110319845814272, "alignment_max": -0.15764662596120518, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.117803682395012, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0235750675201416, "door_quality": 0.048390975353675134, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06912996479096448, "step_quality_min": -0.7260811672603564, "step_quality_max": 0.578166507067207, "alignment_signed_mean": -0.523557571435889, "alignment_abs_mean": 0.523557571435889, "alignment_min": -0.8758750269584848, "alignment_max": -0.22003210394619163, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774612749201824, 0.13304070825136372, 1.0409316459969384, 0.15529994200204666, 0.7455630602711691, 0.6336379270913152, 0.13609051592477342], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344924632965943, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02095818519592285, "door_quality": 0.04068640526683488, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.058123436095478404, "step_quality_min": -0.5448009434926777, "step_quality_max": 0.5887164329400677, "alignment_signed_mean": -0.5415765340432435, "alignment_abs_mean": 0.5415765340432435, "alignment_min": -0.8495920923132028, "alignment_max": -0.12760962301938772, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1345778217515379, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021958589553833008, "door_quality": 0.02845271354499525, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.040646733635707505, "step_quality_min": -0.5578257959416157, "step_quality_max": 0.5648367767044045, "alignment_signed_mean": -0.5627504976869164, "alignment_abs_mean": 0.5627504976869164, "alignment_min": -0.8485592266410394, "alignment_max": -0.24204879775239185, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077461274920183, 0.13304070825136372, 1.0409316459969384, 0.15529994200204666, 0.7455630602711691, 0.6336379270913152, 0.13609051592477342], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1067364726673894, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02409672737121582, "door_quality": 0.07697522085320761, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.10996460121886803, "step_quality_min": -0.7059524105920509, "step_quality_max": 0.543157408971635, "alignment_signed_mean": -0.5039746179817194, "alignment_abs_mean": 0.5039746179817194, "alignment_min": -0.9304141459304688, "alignment_max": -0.2764241171317401, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1067402797903843, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022661685943603516, "door_quality": 0.06202073442570066, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08860104917957239, "step_quality_min": -0.6967296471358565, "step_quality_max": 0.5588101663688306, "alignment_signed_mean": -0.49263116744658564, "alignment_abs_mean": 0.49263116744658564, "alignment_min": -0.9356178636377394, "alignment_max": -0.20153842444246767, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 68, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3108866512775421, -0.095196433365345, 1.1859941482543945, 0.1657394915819168, 0.8910953998565674, 0.41561993956565857, 0.07576028257608414], "right_arm_pose": [0.45823904871940613, -0.21042950451374054, 1.144561529159546, 0.12941569089889526, 0.6953845024108887, 0.6950154900550842, 0.12901777029037476], "left_arm_joint_positions": [-0.27033376693725586, 0.02474263310432434, -0.3095996081829071, -1.9453020095825195, 0.8782726526260376, 1.6853268146514893, 0.452813982963562], "right_arm_joint_positions": [0.3002965450286865, -0.06311652064323425, 0.17778542637825012, -2.409740924835205, -0.9322596788406372, 0.9724228382110596, -1.4492062330245972], "pregrasp_goal_pose": [0.38774545708199765, 0.1330404980163319, 1.0409305856775855, 0.15529791064278323, 0.7455619524042176, 0.6336392140924367, 0.13609291106268667], "pregrasp_position_error": 0.2811455318223768, "pregrasp_orientation_error_deg": 30.940414440915834}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774545708199765, 0.1330404980163319, 1.0409305856775855, 0.15529791064278323, 0.7455619524042176, 0.6336392140924367, 0.13609291106268667], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119229064153364, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024054765701293945, "door_quality": 0.05299495320148995, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0757070760021285, "step_quality_min": -0.7450243035908062, "step_quality_max": 0.5571244964033121, "alignment_signed_mean": -0.5409425042652669, "alignment_abs_mean": 0.5409425042652669, "alignment_min": -0.9004733877213241, "alignment_max": -0.2626811221094163, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1176957711449098, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023635149002075195, "door_quality": 0.0482208827127724, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06888697530396058, "step_quality_min": -0.7282956571298317, "step_quality_max": 0.5609820328863488, "alignment_signed_mean": -0.5231948327188874, "alignment_abs_mean": 0.5231948327188874, "alignment_min": -0.8752439372535398, "alignment_max": -0.2759852594574157, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774545708199763, 0.1330404980163319, 1.0409305856775855, 0.15529791064278323, 0.7455619524042176, 0.6336392140924367, 0.13609291106268667], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344275401014754, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020910263061523438, "door_quality": 0.041109698137728155, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.058728140196754514, "step_quality_min": -0.5643737962614632, "step_quality_max": 0.5858723795516971, "alignment_signed_mean": -0.5358252859173228, "alignment_abs_mean": 0.5358252859173228, "alignment_min": -0.8480963678097933, "alignment_max": -0.11820260877227612, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1343693091459695, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021320819854736328, "door_quality": 0.03436560964464431, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04909372806377759, "step_quality_min": -0.5535750311341456, "step_quality_max": 0.5946050482218258, "alignment_signed_mean": -0.5446316405733208, "alignment_abs_mean": 0.5446316405733208, "alignment_min": -0.8517408099201916, "alignment_max": -0.13562210538745237, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774545708199766, 0.1330404980163319, 1.0409305856775855, 0.15529791064278323, 0.7455619524042176, 0.6336392140924367, 0.13609291106268667], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066287187123924, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024754762649536133, "door_quality": 0.058790641538212056, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08398663076887437, "step_quality_min": -0.7011941178475647, "step_quality_max": 0.5261814407158895, "alignment_signed_mean": -0.4937147730223525, "alignment_abs_mean": 0.4937147730223525, "alignment_min": -0.9318176071212614, "alignment_max": -0.251505966721251, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1066190302282848, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02302098274230957, "door_quality": 0.06177602192696306, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08825145989566152, "step_quality_min": -0.720848909581056, "step_quality_max": 0.5186503081027616, "alignment_signed_mean": -0.5078996660193006, "alignment_abs_mean": 0.5078996660193006, "alignment_min": -0.9560946933829805, "alignment_max": -0.2688428005529227, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 69, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109123408794403, -0.09518609941005707, 1.1859601736068726, 0.16575320065021515, 0.8911053538322449, 0.41560107469558716, 0.07571551948785782], "right_arm_pose": [0.4585115611553192, -0.2097213715314865, 1.1445393562316895, 0.12939371168613434, 0.6953756809234619, 0.695023775100708, 0.12904275953769684], "left_arm_joint_positions": [-0.27031922340393066, 0.024972230195999146, -0.3095678985118866, -1.9452271461486816, 0.8782798051834106, 1.6853303909301758, 0.45281803607940674], "right_arm_joint_positions": [0.2997007369995117, -0.06483766436576843, 0.17709186673164368, -2.4117817878723145, -0.9331709146499634, 0.9736206531524658, -1.4496902227401733], "pregrasp_goal_pose": [0.3877455575832816, 0.1330404829757577, 1.0409307138414738, 0.15529912386272887, 0.7455607110545115, 0.6336406816321065, 0.13609149437110069], "pregrasp_position_error": 0.2811125402688609, "pregrasp_orientation_error_deg": 30.944200029413846}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877455575832816, 0.1330404829757577, 1.0409307138414738, 0.15529912386272887, 0.7455607110545115, 0.6336406816321065, 0.13609149437110069], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192244276289727, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02388930320739746, "door_quality": 0.053287592849836404, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07612513264262344, "step_quality_min": -0.7633449530973091, "step_quality_max": 0.5612386923348834, "alignment_signed_mean": -0.5314823201457192, "alignment_abs_mean": 0.5314823201457192, "alignment_min": -0.9046193443175474, "alignment_max": -0.24747456048134445, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1177577677517108, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024838685989379883, "door_quality": 0.0456344331699785, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06519204738568357, "step_quality_min": -0.748216908658484, "step_quality_max": 0.5321455875585299, "alignment_signed_mean": -0.5375983470798577, "alignment_abs_mean": 0.5375983470798577, "alignment_min": -0.8792315889702115, "alignment_max": -0.3339118049035333, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677455575832816, 0.1330404829757577, 1.0409307138414738, 0.15529912386272887, 0.7455607110545115, 0.6336406816321065, 0.13609149437110069], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134492778722925, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020676136016845703, "door_quality": 0.040796371520942176, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.05828053074420311, "step_quality_min": -0.5666931519996432, "step_quality_max": 0.5764673369667928, "alignment_signed_mean": -0.5316524586725806, "alignment_abs_mean": 0.5316524586725806, "alignment_min": -0.8513822267124016, "alignment_max": -0.15676396213869243, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1345026127834663, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024654150009155273, "door_quality": 0.013999313518853626, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.01999901931264804, "step_quality_min": -0.5624390185301841, "step_quality_max": 0.5091298207914802, "alignment_signed_mean": -0.6078474109771884, "alignment_abs_mean": 0.6078474109771884, "alignment_min": -0.8478924814922576, "alignment_max": -0.3638544205213871, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077455575832816, 0.1330404829757577, 1.0409307138414738, 0.15529912386272887, 0.7455607110545115, 0.6336406816321065, 0.13609149437110069], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066529502953633, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02335500717163086, "door_quality": 0.06186666804059911, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08838095434371301, "step_quality_min": -0.716742248285316, "step_quality_max": 0.5482472855169632, "alignment_signed_mean": -0.4920443445444593, "alignment_abs_mean": 0.4920443445444593, "alignment_min": -0.9420478037310296, "alignment_max": -0.28720690890200007, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.106637671518676, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020627498626708984, "door_quality": 0.08593840461080386, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.12276914944400552, "step_quality_min": -0.7080007832245769, "step_quality_max": 0.5689711451162479, "alignment_signed_mean": -0.48097649620409827, "alignment_abs_mean": 0.48097649620409827, "alignment_min": -0.9375254954345813, "alignment_max": -0.16611152905743243, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 70, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31087228655815125, -0.09518931806087494, 1.1858420372009277, 0.16580888628959656, 0.8910945057868958, 0.41562578082084656, 0.07558595389127731], "right_arm_pose": [0.45943933725357056, -0.2073381245136261, 1.144545316696167, 0.12937714159488678, 0.6953772306442261, 0.6950230598449707, 0.12905433773994446], "left_arm_joint_positions": [-0.27031493186950684, 0.025128155946731567, -0.30957552790641785, -1.9454519748687744, 0.8782433271408081, 1.6853432655334473, 0.45283710956573486], "right_arm_joint_positions": [0.2976877689361572, -0.07065126299858093, 0.17474034428596497, -2.4188437461853027, -0.9362524747848511, 0.9775502681732178, -1.4512792825698853], "pregrasp_goal_pose": [0.3877462402673313, 0.1330403296527115, 1.0409304739921506, 0.15529746170383088, 0.7455620814146258, 0.6336390592157704, 0.13609343768599402], "pregrasp_position_error": 0.28106536251548386, "pregrasp_orientation_error_deg": 30.944642502277716}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877462402673313, 0.1330403296527115, 1.0409304739921506, 0.15529746170383088, 0.7455620814146258, 0.6336390592157704, 0.13609343768599402], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192039281374262, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02398538589477539, "door_quality": 0.050499361848162734, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07214194549737533, "step_quality_min": -0.7384693700538195, "step_quality_max": 0.5685308355754104, "alignment_signed_mean": -0.5349511083701453, "alignment_abs_mean": 0.5349511083701453, "alignment_min": -0.9020292637622482, "alignment_max": -0.2514496352943345, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.117708261815047, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023540973663330078, "door_quality": 0.0532867955226099, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07612399360372843, "step_quality_min": -0.7147416468048093, "step_quality_max": 0.5736088882913832, "alignment_signed_mean": -0.5260545291352979, "alignment_abs_mean": 0.5260545291352979, "alignment_min": -0.8760831093762642, "alignment_max": -0.2117780988262872, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774624026733127, 0.1330403296527115, 1.0409304739921506, 0.15529746170383088, 0.7455620814146258, 0.6336390592157704, 0.13609343768599402], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344484491362832, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02112102508544922, "door_quality": 0.039055931575312806, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.05579418796473258, "step_quality_min": -0.5719037598595992, "step_quality_max": 0.6074011111000096, "alignment_signed_mean": -0.5330271543265621, "alignment_abs_mean": 0.5330271543265621, "alignment_min": -0.8500552644838315, "alignment_max": -0.05805193198774527, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1345218100165795, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020743846893310547, "door_quality": 0.03993677983658525, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.05705254262369322, "step_quality_min": -0.5498969984704041, "step_quality_max": 0.5989581037267975, "alignment_signed_mean": -0.5404919200523064, "alignment_abs_mean": 0.5404919200523064, "alignment_min": -0.8452207450188642, "alignment_max": -0.12232068742070044, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077462402673313, 0.1330403296527115, 1.0409304739921506, 0.15529746170383088, 0.7455620814146258, 0.6336390592157704, 0.13609343768599402], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106510646238223, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.016122102737426758, "door_quality": 0.09466557808748534, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.13523654012497907, "step_quality_min": -0.7120890608473862, "step_quality_max": 0.5919001248089611, "alignment_signed_mean": -0.3869151264719948, "alignment_abs_mean": 0.4359098918677467, "alignment_min": -0.9344994186874979, "alignment_max": 0.2400743504391838, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1065856183223428, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023390531539916992, "door_quality": 0.0658749329876861, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09410704712526587, "step_quality_min": -0.7044183737430967, "step_quality_max": 0.5502605084706511, "alignment_signed_mean": -0.5032903863292296, "alignment_abs_mean": 0.5032903863292296, "alignment_min": -0.9394029556228537, "alignment_max": -0.22545164618434177, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 71, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31086769700050354, -0.09518762677907944, 1.1858668327331543, 0.16581884026527405, 0.8910806775093079, 0.4156493842601776, 0.07559763640165329], "right_arm_pose": [0.46116918325424194, -0.2028278261423111, 1.144575595855713, 0.1294027715921402, 0.6953607201576233, 0.6950339078903198, 0.1290585696697235], "left_arm_joint_positions": [-0.2703268527984619, 0.024981290102005005, -0.30954596400260925, -1.9455010890960693, 0.8782566785812378, 1.6852970123291016, 0.4528597593307495], "right_arm_joint_positions": [0.2939486503601074, -0.08126971125602722, 0.17026880383491516, -2.4314987659454346, -0.9422158002853394, 0.9847366809844971, -1.4541996717453003], "pregrasp_goal_pose": [0.38774537961890887, 0.1330406037612747, 1.0409287520399584, 0.15529683570799388, 0.7455571238001887, 0.6336448801914559, 0.13609420919726928], "pregrasp_position_error": 0.2810789044652492, "pregrasp_orientation_error_deg": 30.942186578280733}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774537961890887, 0.1330406037612747, 1.0409287520399584, 0.15529683570799388, 0.7455571238001887, 0.6336448801914559, 0.13609420919726928], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1191882494256438, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02434086799621582, "door_quality": 0.049200787515223096, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07028683930746157, "step_quality_min": -0.7597769932444592, "step_quality_max": 0.5426917245630772, "alignment_signed_mean": -0.5483842373792328, "alignment_abs_mean": 0.5483842373792328, "alignment_min": -0.9125677111022776, "alignment_max": -0.3243068801143012, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1177142076078055, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02362370491027832, "door_quality": 0.047799617422931644, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06828516774704521, "step_quality_min": -0.7349232252295067, "step_quality_max": 0.575657621506094, "alignment_signed_mean": -0.5233505879847117, "alignment_abs_mean": 0.5233505879847117, "alignment_min": -0.8741133616139003, "alignment_max": -0.23767868934452963, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774537961890885, 0.1330406037612747, 1.0409287520399584, 0.15529683570799388, 0.7455571238001887, 0.6336448801914559, 0.13609420919726928], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344344560602326, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023878097534179688, "door_quality": 0.02265810852678137, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.03236872646683053, "step_quality_min": -0.5742825842260537, "step_quality_max": 0.5140022682338579, "alignment_signed_mean": -0.5940330039977071, "alignment_abs_mean": 0.5940330039977071, "alignment_min": -0.8498500037374402, "alignment_max": -0.34288366416874033, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1344017364451784, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02262425422668457, "door_quality": 0.027097739264035088, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0387110560914787, "step_quality_min": -0.5454013547313377, "step_quality_max": 0.5485503842287723, "alignment_signed_mean": -0.5789984398505575, "alignment_abs_mean": 0.5789984398505575, "alignment_min": -0.8477538596477905, "alignment_max": -0.30986705926385294, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077453796189089, 0.1330406037612747, 1.0409287520399584, 0.15529683570799388, 0.7455571238001887, 0.6336448801914559, 0.13609420919726928], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1065171632390414, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020755529403686523, "door_quality": 0.0848766496512571, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.12125235664465302, "step_quality_min": -0.7185238237870345, "step_quality_max": 0.5695066212283242, "alignment_signed_mean": -0.4745716731257941, "alignment_abs_mean": 0.4745716731257941, "alignment_min": -0.9329852486439941, "alignment_max": -0.1597863442367972, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1065842830931545, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023870229721069336, "door_quality": 0.08107213293261756, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.11581733276088224, "step_quality_min": -0.721693190934592, "step_quality_max": 0.5554236389937988, "alignment_signed_mean": -0.4849311139832969, "alignment_abs_mean": 0.4849311139832969, "alignment_min": -0.934804725346773, "alignment_max": -0.22222615393847703, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 72, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3108828365802765, -0.09517951309680939, 1.1859990358352661, 0.16575567424297333, 0.8910923600196838, 0.415628045797348, 0.07571538537740707], "right_arm_pose": [0.46372097730636597, -0.19609947502613068, 1.1446205377578735, 0.12940825521945953, 0.6953524947166443, 0.6950424313545227, 0.12905216217041016], "left_arm_joint_positions": [-0.2703249454498291, 0.024715453386306763, -0.30954286456108093, -1.9452965259552002, 0.8782411813735962, 1.6853573322296143, 0.45282018184661865], "right_arm_joint_positions": [0.2883644104003906, -0.09688803553581238, 0.163498193025589, -2.450087070465088, -0.9514473676681519, 0.9954681396484375, -1.458609938621521], "pregrasp_goal_pose": [0.3877451019515029, 0.13304041029519917, 1.0409318903896316, 0.1553005359055887, 0.7455631841819594, 0.6336377858197763, 0.1360898171110013], "pregrasp_position_error": 0.28113451932979694, "pregrasp_orientation_error_deg": 30.94040000913786}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 280, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877451019515029, 0.13304041029519917, 1.0409318903896316, 0.1553005359055887, 0.7455631841819594, 0.6336377858197763, 0.1360898171110013], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193150050520748, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02318549156188965, "door_quality": 0.05544787305961397, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07921124722801996, "step_quality_min": -0.7737230444158494, "step_quality_max": 0.5609273900893754, "alignment_signed_mean": -0.5281976418674573, "alignment_abs_mean": 0.5281976418674573, "alignment_min": -0.9203785422246131, "alignment_max": -0.23410606865712644, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1178025589693077, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023534059524536133, "door_quality": 0.04592410680700458, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0656058668671494, "step_quality_min": -0.7173929943796277, "step_quality_max": 0.6228410173521178, "alignment_signed_mean": -0.516102137194272, "alignment_abs_mean": 0.516102137194272, "alignment_min": -0.873278417732367, "alignment_max": -0.1575682515572819, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677451019515029, 0.13304041029519917, 1.0409318903896316, 0.1553005359055887, 0.7455631841819594, 0.6336377858197763, 0.1360898171110013], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345209612505278, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02206587791442871, "door_quality": 0.026781563702690716, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.038259376718129595, "step_quality_min": -0.5800375449617319, "step_quality_max": 0.5695095667390186, "alignment_signed_mean": -0.5552585501268673, "alignment_abs_mean": 0.5552585501268673, "alignment_min": -0.8485143018574922, "alignment_max": -0.2366854503014889, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1345327221307158, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022907018661499023, "door_quality": 0.022965821472462022, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.032808316389231464, "step_quality_min": -0.5586549140693737, "step_quality_max": 0.5472526196268207, "alignment_signed_mean": -0.5774976809438811, "alignment_abs_mean": 0.5774976809438811, "alignment_min": -0.8521840122732677, "alignment_max": -0.3162843566998811, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774510195150293, 0.13304041029519917, 1.0409318903896316, 0.1553005359055887, 0.7455631841819594, 0.6336377858197763, 0.1360898171110013], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106748207822723, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02455306053161621, "door_quality": 0.06410855243935859, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09158364634194084, "step_quality_min": -0.7028627241177203, "step_quality_max": 0.5113007162779037, "alignment_signed_mean": -0.4953374635887273, "alignment_abs_mean": 0.4953374635887273, "alignment_min": -0.9368202152809488, "alignment_max": -0.2838872507949232, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1067493795329657, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023351192474365234, "door_quality": 0.0663182549692888, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09474036424184115, "step_quality_min": -0.709740396370622, "step_quality_max": 0.5477731055585343, "alignment_signed_mean": -0.478393984480842, "alignment_abs_mean": 0.478393984480842, "alignment_min": -0.9371212312496107, "alignment_max": -0.2572938406064918, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 73, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.310888409614563, -0.09520753473043442, 1.1859617233276367, 0.16578860580921173, 0.8910946249961853, 0.41561225056648254, 0.07570328563451767], "right_arm_pose": [0.4671437442302704, -0.18705134093761444, 1.1446566581726074, 0.1293977051973343, 0.695329487323761, 0.6950652003288269, 0.12906414270401], "left_arm_joint_positions": [-0.27034640312194824, 0.02484777569770813, -0.30959007143974304, -1.9452643394470215, 0.8782716989517212, 1.685321569442749, 0.4528287649154663], "right_arm_joint_positions": [0.28081226348876953, -0.1176898181438446, 0.15403369069099426, -2.47463321685791, -0.9643453359603882, 1.0096592903137207, -1.464621901512146], "pregrasp_goal_pose": [0.38774553124428335, 0.13304066779486462, 1.0409305341959518, 0.15529680282734504, 0.7455636806313799, 0.6336371751928673, 0.13609420034886757], "pregrasp_position_error": 0.2811375195917224, "pregrasp_orientation_error_deg": 30.942525320767935}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 280, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774553124428335, 0.13304066779486462, 1.0409305341959518, 0.15529680282734504, 0.7455636806313799, 0.6336371751928673, 0.13609420034886757], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192710526501342, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024391651153564453, "door_quality": 0.04996306924916272, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0713758132130896, "step_quality_min": -0.7698828264198511, "step_quality_max": 0.5562820918545045, "alignment_signed_mean": -0.5413513923884216, "alignment_abs_mean": 0.5413513923884216, "alignment_min": -0.9148264248110843, "alignment_max": -0.2792432272509148, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1177458357858998, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023880720138549805, "door_quality": 0.04979786388512976, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07113980555018537, "step_quality_min": -0.7331776983658597, "step_quality_max": 0.5497916694673444, "alignment_signed_mean": -0.5331448248100065, "alignment_abs_mean": 0.5331448248100065, "alignment_min": -0.87597327522616, "alignment_max": -0.3001988596267122, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774553124428333, 0.13304066779486462, 1.0409305341959518, 0.15529680282734504, 0.7455636806313799, 0.6336371751928673, 0.13609420034886757], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344841216137067, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021203994750976562, "door_quality": 0.04087630013272717, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.05839471447532453, "step_quality_min": -0.5494551303065504, "step_quality_max": 0.5833939969564804, "alignment_signed_mean": -0.5405926905736638, "alignment_abs_mean": 0.5405926905736638, "alignment_min": -0.8504547564785679, "alignment_max": -0.1253969967239456, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1344733666777602, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020855188369750977, "door_quality": 0.040656493488537865, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.058080704983625525, "step_quality_min": -0.5630738131294191, "step_quality_max": 0.5859069021347537, "alignment_signed_mean": -0.534895263568894, "alignment_abs_mean": 0.534895263568894, "alignment_min": -0.8513737641241284, "alignment_max": -0.14551965802740272, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774553124428337, 0.13304066779486462, 1.0409305341959518, 0.15529680282734504, 0.7455636806313799, 0.6336371751928673, 0.13609420034886757], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066797696205328, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024163484573364258, "door_quality": 0.06354555119360558, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09077935884800797, "step_quality_min": -0.7266585217775804, "step_quality_max": 0.544466930817675, "alignment_signed_mean": -0.5001709746044327, "alignment_abs_mean": 0.5001709746044327, "alignment_min": -0.9373454230653052, "alignment_max": -0.25523477711111214, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1066284989962714, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.025318145751953125, "door_quality": 0.058579127767050196, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08368446823864314, "step_quality_min": -0.7103656171119334, "step_quality_max": 0.49682939915614044, "alignment_signed_mean": -0.5128913696181479, "alignment_abs_mean": 0.5128913696181479, "alignment_min": -0.9373710523004674, "alignment_max": -0.29805763221002063, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 74, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3108990490436554, -0.09518970549106598, 1.1859357357025146, 0.16578128933906555, 0.8910941481590271, 0.41561877727508545, 0.07568971812725067], "right_arm_pose": [0.4711955785751343, -0.17638003826141357, 1.144692063331604, 0.12938541173934937, 0.6953181028366089, 0.6950758099555969, 0.129080668091774], "left_arm_joint_positions": [-0.2703418731689453, 0.024847060441970825, -0.3095798194408417, -1.9453492164611816, 0.8782714605331421, 1.6853382587432861, 0.45283758640289307], "right_arm_joint_positions": [0.2718808650970459, -0.14165136218070984, 0.14240959286689758, -2.5025577545166016, -0.9803289175033569, 1.0261986255645752, -1.4717196226119995], "pregrasp_goal_pose": [0.3877456469743448, 0.1330401454255029, 1.0409310629294783, 0.15530077496362568, 0.7455600485938038, 0.6336414721216492, 0.13608955890887173], "pregrasp_position_error": 0.2811060646605399, "pregrasp_orientation_error_deg": 30.942693726594594}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 280, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877456469743448, 0.1330401454255029, 1.0409310629294783, 0.15530077496362568, 0.7455600485938038, 0.6336414721216492, 0.13608955890887173], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1191983874004898, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02396249771118164, "door_quality": 0.04915623908465698, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07022319869236712, "step_quality_min": -0.7632266647335912, "step_quality_max": 0.543205818053017, "alignment_signed_mean": -0.534135304512247, "alignment_abs_mean": 0.534135304512247, "alignment_min": -0.9137513754768164, "alignment_max": -0.265330757319755, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1176159352356683, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02485513687133789, "door_quality": 0.04293869874232328, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.061340998203318974, "step_quality_min": -0.7297727289670799, "step_quality_max": 0.5364095469470178, "alignment_signed_mean": -0.5261529184552448, "alignment_abs_mean": 0.5261529184552448, "alignment_min": -0.8749698492035831, "alignment_max": -0.3344739019111634, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677456469743448, 0.1330401454255029, 1.0409310629294783, 0.15530077496362568, 0.7455600485938038, 0.6336414721216492, 0.13608955890887173], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344309219638435, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023044586181640625, "door_quality": 0.02810489453540281, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.040149849336289734, "step_quality_min": -0.5441996345915003, "step_quality_max": 0.5398817766012021, "alignment_signed_mean": -0.5826305879717195, "alignment_abs_mean": 0.5826305879717195, "alignment_min": -0.848603400085951, "alignment_max": -0.3246807504029571, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1343533829460133, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02321004867553711, "door_quality": 0.025202621318187093, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.036003744740267275, "step_quality_min": -0.5483215345187582, "step_quality_max": 0.5452288692734747, "alignment_signed_mean": -0.5879944537335554, "alignment_abs_mean": 0.5879944537335554, "alignment_min": -0.8497114729214886, "alignment_max": -0.3256163271555759, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774564697434484, 0.1330401454255029, 1.0409310629294783, 0.15530077496362568, 0.7455600485938038, 0.6336414721216492, 0.13608955890887173], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066109889355074, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023639917373657227, "door_quality": 0.06439285765722443, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09198979665317775, "step_quality_min": -0.7025636262222359, "step_quality_max": 0.5470779581135305, "alignment_signed_mean": -0.4963219392967023, "alignment_abs_mean": 0.4963219392967023, "alignment_min": -0.9210097073097693, "alignment_max": -0.23856297966550125, "door_contact_steps": 12, "path_steps": 28}, {"path_found": true, "path_length": 1.1065900964013202, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024692535400390625, "door_quality": 0.061142778648934956, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08734682664133565, "step_quality_min": -0.7032072798035558, "step_quality_max": 0.5387303240149373, "alignment_signed_mean": -0.5086250466599973, "alignment_abs_mean": 0.5086250466599973, "alignment_min": -0.9336190646763941, "alignment_max": -0.2613801847601687, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 75, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31090250611305237, -0.09521351754665375, 1.185908555984497, 0.16578570008277893, 0.8911066055297852, 0.4155936539173126, 0.07567128539085388], "right_arm_pose": [0.4754960536956787, -0.1650640219449997, 1.1447315216064453, 0.12940216064453125, 0.6953020691871643, 0.6950842142105103, 0.12910524010658264], "left_arm_joint_positions": [-0.2703361511230469, 0.024903327226638794, -0.30957481265068054, -1.9451558589935303, 0.878243088722229, 1.6853644847869873, 0.45280349254608154], "right_arm_joint_positions": [0.2621934413909912, -0.16656991839408875, 0.12958624958992004, -2.5312020778656006, -0.998310923576355, 1.0434587001800537, -1.4792970418930054], "pregrasp_goal_pose": [0.38774561077879227, 0.13304048300399485, 1.0409305390059116, 0.15529958904205265, 0.7455600550618956, 0.6336414558672412, 0.13609095247633304], "pregrasp_position_error": 0.28111096903018273, "pregrasp_orientation_error_deg": 30.94636330926093}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 78, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774561077879227, 0.13304048300399485, 1.0409305390059116, 0.15529958904205265, 0.7455600550618956, 0.6336414558672412, 0.13609095247633304], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192482748560728, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02345871925354004, "door_quality": 0.05457183969402004, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0779597709914572, "step_quality_min": -0.7651667456744202, "step_quality_max": 0.5484397635169027, "alignment_signed_mean": -0.5391398647488685, "alignment_abs_mean": 0.5391398647488685, "alignment_min": -0.9067339077215896, "alignment_max": -0.2987614943051351, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1178049012283477, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02309250831604004, "door_quality": 0.049499399994888754, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0707134285641268, "step_quality_min": -0.7255479617869602, "step_quality_max": 0.5632414175677205, "alignment_signed_mean": -0.5283929985600343, "alignment_abs_mean": 0.5283929985600343, "alignment_min": -0.876020391023579, "alignment_max": -0.2892931334138392, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774561077879225, 0.13304048300399485, 1.0409305390059116, 0.15529958904205265, 0.7455600550618956, 0.6336414558672412, 0.13609095247633304], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345066255512797, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021936893463134766, "door_quality": 0.03319395797135034, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04741993995907191, "step_quality_min": -0.5444775873320603, "step_quality_max": 0.5516987326485017, "alignment_signed_mean": -0.5681153697454608, "alignment_abs_mean": 0.5681153697454608, "alignment_min": -0.8480168392511729, "alignment_max": -0.2802970395773157, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1345328401245933, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0245211124420166, "door_quality": 0.013050584519351635, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.018643692170502338, "step_quality_min": -0.545961366487062, "step_quality_max": 0.5205530678691215, "alignment_signed_mean": -0.6020206332712904, "alignment_abs_mean": 0.6020206332712904, "alignment_min": -0.8515913694957551, "alignment_max": -0.3367537149778913, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077456107787923, 0.13304048300399485, 1.0409305390059116, 0.15529958904205265, 0.7455600550618956, 0.6336414558672412, 0.13609095247633304], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1067081246895423, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024901866912841797, "door_quality": 0.05571557478259494, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07959367826084991, "step_quality_min": -0.704098649034805, "step_quality_max": 0.5062672020337565, "alignment_signed_mean": -0.5040031366874572, "alignment_abs_mean": 0.5040031366874572, "alignment_min": -0.9344133208356749, "alignment_max": -0.282637893487223, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1065900260465302, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02287912368774414, "door_quality": 0.06805975789756821, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0972282255679546, "step_quality_min": -0.7177911564163959, "step_quality_max": 0.5480291963700269, "alignment_signed_mean": -0.4824191558366917, "alignment_abs_mean": 0.4824191558366917, "alignment_min": -0.9302460165063616, "alignment_max": -0.2484099263529904, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 76, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31090837717056274, -0.09519761800765991, 1.1858428716659546, 0.16582277417182922, 0.8910979628562927, 0.41560861468315125, 0.07560931146144867], "right_arm_pose": [0.4799036979675293, -0.15356355905532837, 1.1447608470916748, 0.1293468028306961, 0.6952832341194153, 0.6951059103012085, 0.12914520502090454], "left_arm_joint_positions": [-0.2703404426574707, 0.0250416100025177, -0.3095659911632538, -1.945359468460083, 0.8782635927200317, 1.685349702835083, 0.4528437852859497], "right_arm_joint_positions": [0.2522144317626953, -0.19170710444450378, 0.1159992516040802, -2.559483051300049, -1.0176116228103638, 1.0608386993408203, -1.4871762990951538], "pregrasp_goal_pose": [0.3877478279244616, 0.13303837319966674, 1.0409320892176437, 0.15530150248347593, 0.7455624161337013, 0.6336386953893046, 0.13608868682073577], "pregrasp_position_error": 0.281060676268192, "pregrasp_orientation_error_deg": 30.945725082788325}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 62, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877478279244616, 0.13303837319966674, 1.0409320892176437, 0.15530150248347593, 0.7455624161337013, 0.6336386953893046, 0.13608868682073577], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119173870127155, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02451014518737793, "door_quality": 0.04639898475277566, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06628426393253666, "step_quality_min": -0.7455926113867847, "step_quality_max": 0.5474335609077201, "alignment_signed_mean": -0.5476710821136122, "alignment_abs_mean": 0.5476710821136122, "alignment_min": -0.9014297797544663, "alignment_max": -0.2811073990154076, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1176984693918803, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024448871612548828, "door_quality": 0.04571090394386133, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06530129134837333, "step_quality_min": -0.7281040156991809, "step_quality_max": 0.5502427929469549, "alignment_signed_mean": -0.534131683717608, "alignment_abs_mean": 0.534131683717608, "alignment_min": -0.8764991182225131, "alignment_max": -0.30942859111267523, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677478279244616, 0.13303837319966674, 1.0409320892176437, 0.15530150248347593, 0.7455624161337013, 0.6336386953893046, 0.13608868682073577], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344191142750146, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02234649658203125, "door_quality": 0.031529405564021416, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.045042007948602025, "step_quality_min": -0.5644621051053091, "step_quality_max": 0.548031769363877, "alignment_signed_mean": -0.5700550783745003, "alignment_abs_mean": 0.5700550783745003, "alignment_min": -0.8495436636800389, "alignment_max": -0.2583510370612303, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1343165035204203, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021919727325439453, "door_quality": 0.03261388492091251, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.046591264172732155, "step_quality_min": -0.5582319615403599, "step_quality_max": 0.5666455401591564, "alignment_signed_mean": -0.5674603879063705, "alignment_abs_mean": 0.5674603879063705, "alignment_min": -0.8485754674546969, "alignment_max": -0.237964086923945, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077478279244616, 0.13303837319966674, 1.0409320892176437, 0.15530150248347593, 0.7455624161337013, 0.6336386953893046, 0.13608868682073577], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106586206564589, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02305126190185547, "door_quality": 0.0698674730857707, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09981067583681529, "step_quality_min": -0.7096545468754596, "step_quality_max": 0.5247100057359839, "alignment_signed_mean": -0.49800926727460426, "alignment_abs_mean": 0.49800926727460426, "alignment_min": -0.9311106625728574, "alignment_max": -0.27687265726769805, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1065873715603185, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022535324096679688, "door_quality": 0.07512328999174685, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.10731898570249551, "step_quality_min": -0.7222010028931328, "step_quality_max": 0.528085869184647, "alignment_signed_mean": -0.5033945085130425, "alignment_abs_mean": 0.5033945085130425, "alignment_min": -0.9356702552370557, "alignment_max": -0.29310753702904796, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 77, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31087827682495117, -0.0951993390917778, 1.1859112977981567, 0.16578412055969238, 0.8911052942276001, 0.41559797525405884, 0.07566604763269424], "right_arm_pose": [0.4843267798423767, -0.14201098680496216, 1.1448090076446533, 0.12929677963256836, 0.6952943801879883, 0.6951066255569458, 0.12913140654563904], "left_arm_joint_positions": [-0.2703423500061035, 0.02498677372932434, -0.309552401304245, -1.9452157020568848, 0.8782113790512085, 1.6853399276733398, 0.45280754566192627], "right_arm_joint_positions": [0.24175262451171875, -0.21662375330924988, 0.10173586010932922, -2.5869712829589844, -1.0382837057113647, 1.0782628059387207, -1.4950991868972778], "pregrasp_goal_pose": [0.38774570683911896, 0.13304092987257135, 1.0409301147378467, 0.15529766905885684, 0.7455604061481089, 0.6336410292959176, 0.13609320615652598], "pregrasp_position_error": 0.28110810307685646, "pregrasp_orientation_error_deg": 30.946011153741562}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 38, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 256, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774570683911896, 0.13304092987257135, 1.0409301147378467, 0.15529766905885684, 0.7455604061481089, 0.6336410292959176, 0.13609320615652598], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192405444734201, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024533748626708984, "door_quality": 0.05227274030219992, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07467534328885704, "step_quality_min": -0.7619892691954255, "step_quality_max": 0.5450726759665508, "alignment_signed_mean": -0.5479242224717245, "alignment_abs_mean": 0.5479242224717245, "alignment_min": -0.9131498357913608, "alignment_max": -0.30696617949341753, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1177438009221305, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024489164352416992, "door_quality": 0.045118603816201634, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06445514830885948, "step_quality_min": -0.726136680947287, "step_quality_max": 0.5638452516638945, "alignment_signed_mean": -0.5346712389678159, "alignment_abs_mean": 0.5346712389678159, "alignment_min": -0.8790123974240546, "alignment_max": -0.2822446889461518, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774570683911895, 0.13304092987257135, 1.0409301147378467, 0.15529766905885684, 0.7455604061481089, 0.6336410292959176, 0.13609320615652598], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344783347397511, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021022319793701172, "door_quality": 0.040889442201293945, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.05841348885899135, "step_quality_min": -0.5592886260291918, "step_quality_max": 0.5950790741470856, "alignment_signed_mean": -0.5446836460613198, "alignment_abs_mean": 0.5446836460613198, "alignment_min": -0.8468369874474923, "alignment_max": -0.12655241368840042, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1344069614179506, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019726276397705078, "door_quality": 0.048878821695053615, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06982688813579088, "step_quality_min": -0.5500447884651575, "step_quality_max": 0.5819872455351209, "alignment_signed_mean": -0.5250589924350889, "alignment_abs_mean": 0.5250589924350889, "alignment_min": -0.8482143036214287, "alignment_max": -0.13741370213396523, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.407745706839119, 0.13304092987257135, 1.0409301147378467, 0.15529766905885684, 0.7455604061481089, 0.6336410292959176, 0.13609320615652598], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1065917650665393, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024231433868408203, "door_quality": 0.07159984473464549, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.102285492478065, "step_quality_min": -0.7105928199456496, "step_quality_max": 0.5722211818542968, "alignment_signed_mean": -0.5041749202883324, "alignment_abs_mean": 0.5041749202883324, "alignment_min": -0.9241170771151963, "alignment_max": -0.18214322097753918, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1065957306015861, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022391557693481445, "door_quality": 0.07575550747857084, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.10822215354081548, "step_quality_min": -0.7391286591085916, "step_quality_max": 0.5334728213300692, "alignment_signed_mean": -0.5053691635502278, "alignment_abs_mean": 0.5053691635502278, "alignment_min": -0.9489788020959626, "alignment_max": -0.2731156642933154, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 78, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3108847141265869, -0.09520947933197021, 1.1859314441680908, 0.16579091548919678, 0.8910945057868958, 0.415616899728775, 0.07567378878593445], "right_arm_pose": [0.4887542426586151, -0.13039830327033997, 1.144868016242981, 0.12929531931877136, 0.6952899098396301, 0.6951119899749756, 0.12912802398204803], "left_arm_joint_positions": [-0.27034497261047363, 0.024918586015701294, -0.30956074595451355, -1.9452950954437256, 0.8782552480697632, 1.6853208541870117, 0.45281803607940674], "right_arm_joint_positions": [0.23091673851013184, -0.24109598994255066, 0.08683827519416809, -2.6135125160217285, -1.0602675676345825, 1.095520257949829, -1.50312340259552], "pregrasp_goal_pose": [0.3877459491253826, 0.13304087390053732, 1.040931551437811, 0.15530009325682825, 0.745562250506753, 0.6336388797332312, 0.1360903440518179], "pregrasp_position_error": 0.28112424670970165, "pregrasp_orientation_error_deg": 30.942992753831728}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 18, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 254, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877459491253826, 0.13304087390053732, 1.040931551437811, 0.15530009325682825, 0.745562250506753, 0.6336388797332312, 0.1360903440518179], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119255127831026, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024001598358154297, "door_quality": 0.05327420246891237, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07610600352701767, "step_quality_min": -0.7644188539168192, "step_quality_max": 0.5501317323840856, "alignment_signed_mean": -0.5436352341240285, "alignment_abs_mean": 0.5436352341240285, "alignment_min": -0.9092127648622611, "alignment_max": -0.2810033253842593, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1178117804303258, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023377418518066406, "door_quality": 0.051141566714293187, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07305938102041884, "step_quality_min": -0.7054151967682696, "step_quality_max": 0.5650869912792036, "alignment_signed_mean": -0.5271953688658264, "alignment_abs_mean": 0.5271953688658264, "alignment_min": -0.8753973935394721, "alignment_max": -0.2709815169926537, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677459491253826, 0.13304087390053732, 1.040931551437811, 0.15530009325682825, 0.745562250506753, 0.6336388797332312, 0.1360903440518179], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1343131053852016, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02102065086364746, "door_quality": 0.03950756435542771, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.05643937765061102, "step_quality_min": -0.5766978567664462, "step_quality_max": 0.5917979121068356, "alignment_signed_mean": -0.5446184563147207, "alignment_abs_mean": 0.5446184563147207, "alignment_min": -0.8506233626553469, "alignment_max": -0.14076477296191592, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1345361298514693, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021830320358276367, "door_quality": 0.035369966614075786, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.05052852373439398, "step_quality_min": -0.5597709947252851, "step_quality_max": 0.5708326613291905, "alignment_signed_mean": -0.5623161599278854, "alignment_abs_mean": 0.5623161599278854, "alignment_min": -0.850022877443546, "alignment_max": -0.22816262871781653, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774594912538265, 0.13304087390053732, 1.040931551437811, 0.15530009325682825, 0.745562250506753, 0.6336388797332312, 0.1360903440518179], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.10668367655156, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023860454559326172, "door_quality": 0.06141527917103083, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08773611310147263, "step_quality_min": -0.705482429549194, "step_quality_max": 0.5562710673995926, "alignment_signed_mean": -0.49025662079645754, "alignment_abs_mean": 0.49025662079645754, "alignment_min": -0.9343535282061491, "alignment_max": -0.2653541457968918, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1066863460722562, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0162808895111084, "door_quality": 0.1045919425778778, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.1494170608255397, "step_quality_min": -0.7271277420481613, "step_quality_max": 0.6114958233805539, "alignment_signed_mean": -0.4026901012579966, "alignment_abs_mean": 0.42059143514552016, "alignment_min": -0.9464068355567287, "alignment_max": 0.09129680282637007, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 79, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31088876724243164, -0.09519098699092865, 1.185871958732605, 0.1658107489347458, 0.8910899758338928, 0.415630578994751, 0.07560867071151733], "right_arm_pose": [0.49322330951690674, -0.11882510781288147, 1.144837498664856, 0.12920135259628296, 0.6952781677246094, 0.6951349973678589, 0.12916143238544464], "left_arm_joint_positions": [-0.27032923698425293, 0.025089532136917114, -0.3095531165599823, -1.9454095363616943, 0.8782624006271362, 1.6853208541870117, 0.4528602361679077], "right_arm_joint_positions": [0.2197110652923584, -0.2649936378002167, 0.07123211026191711, -2.639346122741699, -1.0833483934402466, 1.1126832962036133, -1.5112384557724], "pregrasp_goal_pose": [0.3877453076262821, 0.13304067685072263, 1.0409320153439168, 0.15530256733001113, 0.745561440819911, 0.6336398492236346, 0.13608744254741226], "pregrasp_position_error": 0.2810768709254091, "pregrasp_orientation_error_deg": 30.94326353140682}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 9, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 254, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877453076262821, 0.13304067685072263, 1.0409320153439168, 0.15530256733001113, 0.745561440819911, 0.6336398492236346, 0.13608744254741226], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192211175407634, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024308204650878906, "door_quality": 0.05097404175537046, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07282005965052923, "step_quality_min": -0.7690058648414718, "step_quality_max": 0.5454617723766606, "alignment_signed_mean": -0.5418587618216861, "alignment_abs_mean": 0.5418587618216861, "alignment_min": -0.9121287562117469, "alignment_max": -0.30854929241357215, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1177461384020124, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024059534072875977, "door_quality": 0.04828404745306451, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06897721064723503, "step_quality_min": -0.7454724141437129, "step_quality_max": 0.5550829024751434, "alignment_signed_mean": -0.5294797928030753, "alignment_abs_mean": 0.5294797928030753, "alignment_min": -0.8827321737910078, "alignment_max": -0.3041254601867301, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677453076262821, 0.13304067685072263, 1.0409320153439168, 0.15530256733001113, 0.745561440819911, 0.6336398492236346, 0.13608744254741226], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344751138113631, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02327728271484375, "door_quality": 0.024226965812385905, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.034609951160551294, "step_quality_min": -0.5525265377500843, "step_quality_max": 0.5537211468649323, "alignment_signed_mean": -0.5837770368728943, "alignment_abs_mean": 0.5837770368728943, "alignment_min": -0.8506085286517191, "alignment_max": -0.3082842574355927, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1344134718577488, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02057790756225586, "door_quality": 0.042620734755178066, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06088676393596867, "step_quality_min": -0.5632031512329546, "step_quality_max": 0.5832794201000492, "alignment_signed_mean": -0.5288402005068441, "alignment_abs_mean": 0.5288402005068441, "alignment_min": -0.8505122482938894, "alignment_max": -0.14230155367455816, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774530762628214, 0.13304067685072263, 1.0409320153439168, 0.15530256733001113, 0.745561440819911, 0.6336398492236346, 0.13608744254741226], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066168748147303, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01643514633178711, "door_quality": 0.09629224223611821, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.13756034605159745, "step_quality_min": -0.7072179285228752, "step_quality_max": 0.5922147135905015, "alignment_signed_mean": -0.3982049548998313, "alignment_abs_mean": 0.4220926488624353, "alignment_min": -0.9357192500022943, "alignment_max": 0.11824408511489037, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.106634983001056, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02413344383239746, "door_quality": 0.05633639391340584, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08048056273343693, "step_quality_min": -0.703174362595413, "step_quality_max": 0.5438027992794868, "alignment_signed_mean": -0.4962911471976971, "alignment_abs_mean": 0.4962911471976971, "alignment_min": -0.929081844152795, "alignment_max": -0.25994556399685326, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 80, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3108653426170349, -0.09522451460361481, 1.1859740018844604, 0.16578471660614014, 0.8910931944847107, 0.4156177341938019, 0.07569903880357742], "right_arm_pose": [0.49763941764831543, -0.10726826637983322, 1.1448343992233276, 0.1291230320930481, 0.6952815055847168, 0.6951359510421753, 0.12921690940856934], "left_arm_joint_positions": [-0.2703413963317871, 0.02475932240486145, -0.30960723757743835, -1.945312261581421, 0.8782495260238647, 1.685347318649292, 0.4528316259384155], "right_arm_joint_positions": [0.2079918384552002, -0.28830358386039734, 0.05508497357368469, -2.6638612747192383, -1.1076816320419312, 1.129845380783081, -1.5193747282028198], "pregrasp_goal_pose": [0.3877456475927963, 0.13304097737884235, 1.04093080673541, 0.15529706136181615, 0.7455631509273225, 0.6336377995278784, 0.1360939003819595], "pregrasp_position_error": 0.28116408835803486, "pregrasp_orientation_error_deg": 30.94209700642337}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 3, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 236, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877456475927963, 0.13304097737884235, 1.04093080673541, 0.15529706136181615, 0.7455631509273225, 0.6336377995278784, 0.1360939003819595], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193307987387295, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02416396141052246, "door_quality": 0.052657963921678416, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07522566274525488, "step_quality_min": -0.754576751251091, "step_quality_max": 0.558211832847482, "alignment_signed_mean": -0.5428947065545303, "alignment_abs_mean": 0.5428947065545303, "alignment_min": -0.9054238257075308, "alignment_max": -0.2642777879720627, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.117749031025156, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02347588539123535, "door_quality": 0.05175147630032308, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07393068042903297, "step_quality_min": -0.7346346028043025, "step_quality_max": 0.5661677534365139, "alignment_signed_mean": -0.5247002534677289, "alignment_abs_mean": 0.5247002534677289, "alignment_min": -0.8797597949119695, "alignment_max": -0.25616017233159066, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774564759279627, 0.13304097737884235, 1.04093080673541, 0.15529706136181615, 0.7455631509273225, 0.6336377995278784, 0.1360939003819595], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345285614701102, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022428035736083984, "door_quality": 0.03007584814225805, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04296549734608293, "step_quality_min": -0.5479278312699136, "step_quality_max": 0.5651480736389631, "alignment_signed_mean": -0.5674062186301199, "alignment_abs_mean": 0.5674062186301199, "alignment_min": -0.8476319410130582, "alignment_max": -0.24347254531836787, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1344709821718078, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02235555648803711, "door_quality": 0.03010884580590877, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04301263686558396, "step_quality_min": -0.571766574624504, "step_quality_max": 0.5662788624465744, "alignment_signed_mean": -0.5692787498861173, "alignment_abs_mean": 0.5692787498861173, "alignment_min": -0.850391281931947, "alignment_max": -0.246187093406776, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077456475927963, 0.13304097737884235, 1.04093080673541, 0.15529706136181615, 0.7455631509273225, 0.6336377995278784, 0.1360939003819595], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066346258157411, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01621079444885254, "door_quality": 0.09598508000570306, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.1371215428652901, "step_quality_min": -0.7119761806626538, "step_quality_max": 0.5957200915916065, "alignment_signed_mean": -0.3847926448672724, "alignment_abs_mean": 0.4311093245640481, "alignment_min": -0.9316094495221848, "alignment_max": 0.22695173051420106, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.10679665434178, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022334814071655273, "door_quality": 0.08906692424547895, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.12723846320782708, "step_quality_min": -0.7233869657121175, "step_quality_max": 0.5522867977449252, "alignment_signed_mean": -0.5033714408553004, "alignment_abs_mean": 0.5033714408553004, "alignment_min": -0.9317432949316338, "alignment_max": -0.22727395508376175, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 81, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31086090207099915, -0.0951787531375885, 1.185908555984497, 0.16579659283161163, 0.8910909295082092, 0.4156269133090973, 0.07564955204725266], "right_arm_pose": [0.5020394921302795, -0.09576189517974854, 1.1448928117752075, 0.12910659611225128, 0.695269763469696, 0.6951553225517273, 0.12919192016124725], "left_arm_joint_positions": [-0.2703227996826172, 0.024902373552322388, -0.3095512092113495, -1.945389986038208, 0.8782175779342651, 1.6853716373443604, 0.4528461694717407], "right_arm_joint_positions": [0.19578003883361816, -0.31116363406181335, 0.03843072056770325, -2.6872434616088867, -1.1331394910812378, 1.1467859745025635, -1.527518391609192], "pregrasp_goal_pose": [0.38774546609442984, 0.1330408459607841, 1.0409301578177863, 0.155297683811211, 0.7455608854083302, 0.6336404662373646, 0.13609318534928572], "pregrasp_position_error": 0.2810945704432589, "pregrasp_orientation_error_deg": 30.942803381350927}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 236, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774546609442984, 0.1330408459607841, 1.0409301578177863, 0.155297683811211, 0.7455608854083302, 0.6336404662373646, 0.13609318534928572], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119243590778169, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023300647735595703, "door_quality": 0.05491654260228125, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07845220371754465, "step_quality_min": -0.7425538367836138, "step_quality_max": 0.5556525076423828, "alignment_signed_mean": -0.5317473120354307, "alignment_abs_mean": 0.5317473120354307, "alignment_min": -0.900363460692552, "alignment_max": -0.2725921447104497, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.117673505274372, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023193836212158203, "door_quality": 0.04907952608948822, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07011360869926889, "step_quality_min": -0.7277881763507112, "step_quality_max": 0.5827014109201922, "alignment_signed_mean": -0.5209848014351873, "alignment_abs_mean": 0.5209848014351873, "alignment_min": -0.8742494835696962, "alignment_max": -0.214142252650015, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677454660944298, 0.1330408459607841, 1.0409301578177863, 0.155297683811211, 0.7455608854083302, 0.6336404662373646, 0.13609318534928572], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344231891475747, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023995399475097656, "door_quality": 0.017036068432382964, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.02433724061768995, "step_quality_min": -0.5764342602005232, "step_quality_max": 0.5252953234817994, "alignment_signed_mean": -0.5943390032755003, "alignment_abs_mean": 0.5943390032755003, "alignment_min": -0.8491262085867767, "alignment_max": -0.33041260851930576, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1345248625257909, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021078824996948242, "door_quality": 0.04042221233421103, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.05774601762030148, "step_quality_min": -0.5547883390888255, "step_quality_max": 0.5542106923851002, "alignment_signed_mean": -0.5516041134631748, "alignment_abs_mean": 0.5516041134631748, "alignment_min": -0.8509265576047162, "alignment_max": -0.24976048003006487, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774546609442985, 0.1330408459607841, 1.0409301578177863, 0.155297683811211, 0.7455608854083302, 0.6336404662373646, 0.13609318534928572], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066021181529797, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023882627487182617, "door_quality": 0.058066555299525924, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08295222185646561, "step_quality_min": -0.7023546477078059, "step_quality_max": 0.5656524265998827, "alignment_signed_mean": -0.49690332795256703, "alignment_abs_mean": 0.49690332795256703, "alignment_min": -0.9315545234076759, "alignment_max": -0.21572609484482452, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1066653422554409, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02612614631652832, "door_quality": 0.054112211341165214, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07730315905880746, "step_quality_min": -0.7020805522656662, "step_quality_max": 0.5338733448130539, "alignment_signed_mean": -0.5115492280464474, "alignment_abs_mean": 0.5115492280464474, "alignment_min": -0.9299271591354064, "alignment_max": -0.24843847078946574, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 82, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3108659088611603, -0.0951809287071228, 1.185854434967041, 0.16582472622394562, 0.8910879492759705, 0.41563132405281067, 0.07559848576784134], "right_arm_pose": [0.5064363479614258, -0.08433571457862854, 1.1448838710784912, 0.12902866303920746, 0.6952743530273438, 0.6951554417610168, 0.1292448192834854], "left_arm_joint_positions": [-0.2703258991241455, 0.024942666292190552, -0.3095562160015106, -1.9455621242523193, 0.8782058954238892, 1.6853327751159668, 0.45288288593292236], "right_arm_joint_positions": [0.18306851387023926, -0.3331563174724579, 0.021188050508499146, -2.7094855308532715, -1.1596728563308716, 1.1637301445007324, -1.5357040166854858], "pregrasp_goal_pose": [0.38774542499042575, 0.13304105402976701, 1.04093092225318, 0.15529982126387498, 0.7455606170651238, 0.6336407971671767, 0.1360906755153519], "pregrasp_position_error": 0.2810668211332527, "pregrasp_orientation_error_deg": 30.943630715565803}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 226, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774542499042575, 0.13304105402976701, 1.04093092225318, 0.15529982126387498, 0.7455606170651238, 0.6336407971671767, 0.1360906755153519], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119213238353036, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02335834503173828, "door_quality": 0.0571608832396799, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08165840462811415, "step_quality_min": -0.760270198334674, "step_quality_max": 0.5705712122245427, "alignment_signed_mean": -0.5197225101042843, "alignment_abs_mean": 0.5197225101042843, "alignment_min": -0.9020279740430432, "alignment_max": -0.22596512112826342, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.11771626494867, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023421287536621094, "door_quality": 0.05253346085777423, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07504780122539176, "step_quality_min": -0.7025704424718597, "step_quality_max": 0.566458962943591, "alignment_signed_mean": -0.5258176168778538, "alignment_abs_mean": 0.5258176168778538, "alignment_min": -0.876122942959753, "alignment_max": -0.23348487125616532, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774542499042573, 0.13304105402976701, 1.04093092225318, 0.15529982126387498, 0.7455606170651238, 0.6336407971671767, 0.1360906755153519], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345060037372938, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020827770233154297, "door_quality": 0.039602673582970635, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.056575247975672344, "step_quality_min": -0.5620646175139942, "step_quality_max": 0.5970133506583465, "alignment_signed_mean": -0.5390029190524862, "alignment_abs_mean": 0.5390029190524862, "alignment_min": -0.850627080282924, "alignment_max": -0.11273254785572898, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1343742067941192, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02258753776550293, "door_quality": 0.02953057505320301, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04218653579029002, "step_quality_min": -0.5431941659459736, "step_quality_max": 0.5510894380529594, "alignment_signed_mean": -0.5745429617005495, "alignment_abs_mean": 0.5745429617005495, "alignment_min": -0.8498684333359555, "alignment_max": -0.2908536977967262, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774542499042576, 0.13304105402976701, 1.04093092225318, 0.15529982126387498, 0.7455606170651238, 0.6336407971671767, 0.1360906755153519], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1065901122751476, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024273157119750977, "door_quality": 0.07710560410086177, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.1101508630012311, "step_quality_min": -0.7194893743749434, "step_quality_max": 0.5423501867635553, "alignment_signed_mean": -0.5001694962270454, "alignment_abs_mean": 0.5001694962270454, "alignment_min": -0.9318400132265641, "alignment_max": -0.2514837487870621, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1065513302564878, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023727893829345703, "door_quality": 0.06493923501403039, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09277033573432913, "step_quality_min": -0.721882359957823, "step_quality_max": 0.5352815051813212, "alignment_signed_mean": -0.4918645260777544, "alignment_abs_mean": 0.4918645260777544, "alignment_min": -0.9328811815495549, "alignment_max": -0.26031833143693284, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 83, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.310869425535202, -0.09519633650779724, 1.185875654220581, 0.1658133864402771, 0.8910935521125793, 0.4156181812286377, 0.07562953978776932], "right_arm_pose": [0.5108127593994141, -0.0729624480009079, 1.1449096202850342, 0.1290120631456375, 0.6952853798866272, 0.6951481699943542, 0.12924101948738098], "left_arm_joint_positions": [-0.27032947540283203, 0.02486589550971985, -0.3095659911632538, -1.9453973770141602, 0.8782397508621216, 1.6853580474853516, 0.4528387784957886], "right_arm_joint_positions": [0.1697533130645752, -0.35451051592826843, 0.003481656312942505, -2.730433464050293, -1.1872936487197876, 1.1806409358978271, -1.5438162088394165], "pregrasp_goal_pose": [0.38774504365526563, 0.13304065142056576, 1.0409321335599238, 0.15530034588560826, 0.7455637607340916, 0.6336371069369301, 0.13609003622766072], "pregrasp_position_error": 0.2810882557159939, "pregrasp_orientation_error_deg": 30.94379277027376}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 224, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774504365526563, 0.13304065142056576, 1.0409321335599238, 0.15530034588560826, 0.7455637607340916, 0.6336371069369301, 0.13609003622766072], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192031249407797, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024533748626708984, "door_quality": 0.051725146868394384, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07389306695484912, "step_quality_min": -0.7726950863238676, "step_quality_max": 0.5476650912002241, "alignment_signed_mean": -0.5466062923512912, "alignment_abs_mean": 0.5466062923512912, "alignment_min": -0.9169475365507052, "alignment_max": -0.30942978539292226, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1177007550301987, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023708343505859375, "door_quality": 0.04920509317462754, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07029299024946792, "step_quality_min": -0.7159353224876612, "step_quality_max": 0.5780655896073362, "alignment_signed_mean": -0.5221910913310934, "alignment_abs_mean": 0.5221910913310934, "alignment_min": -0.8740383273938077, "alignment_max": -0.21467159419964701, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677450436552656, 0.13304065142056576, 1.0409321335599238, 0.15530034588560826, 0.7455637607340916, 0.6336371069369301, 0.13609003622766072], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344818637550773, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020968198776245117, "door_quality": 0.04044113829731476, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.057773054710449655, "step_quality_min": -0.5428186007761974, "step_quality_max": 0.5893540696183353, "alignment_signed_mean": -0.5472063297744607, "alignment_abs_mean": 0.5472063297744607, "alignment_min": -0.8483451498466257, "alignment_max": -0.15484365032140932, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1343387431961207, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022686481475830078, "door_quality": 0.026840111035474595, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.03834301576496371, "step_quality_min": -0.5573052001407799, "step_quality_max": 0.5447598789529943, "alignment_signed_mean": -0.5772337549335123, "alignment_abs_mean": 0.5772337549335123, "alignment_min": -0.8475269663339274, "alignment_max": -0.2958906674155572, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774504365526565, 0.13304065142056576, 1.0409321335599238, 0.15530034588560826, 0.7455637607340916, 0.6336371069369301, 0.13609003622766072], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066002502085412, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02363729476928711, "door_quality": 0.06727711943454613, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09611017062078019, "step_quality_min": -0.7015651514005643, "step_quality_max": 0.529140134631259, "alignment_signed_mean": -0.5052604540019974, "alignment_abs_mean": 0.5052604540019974, "alignment_min": -0.9354227645614165, "alignment_max": -0.2911050776642558, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.106627741843159, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.016533851623535156, "door_quality": 0.09241549583926734, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.13202213691323905, "step_quality_min": -0.7021756517234402, "step_quality_max": 0.5903263364176649, "alignment_signed_mean": -0.4108769751218563, "alignment_abs_mean": 0.4474982826601767, "alignment_min": -0.9356952798840181, "alignment_max": 0.1831065376916035, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 84, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3108825385570526, -0.09521421045064926, 1.185801386833191, 0.1658383458852768, 0.8910872936248779, 0.41563329100608826, 0.07556559890508652], "right_arm_pose": [0.5151353478431702, -0.0616835355758667, 1.1448779106140137, 0.1289157122373581, 0.6952746510505676, 0.6951625347137451, 0.12931759655475616], "left_arm_joint_positions": [-0.2703514099121094, 0.025006085634231567, -0.3096012771129608, -1.945500373840332, 0.8782690763473511, 1.6853137016296387, 0.45282304286956787], "right_arm_joint_positions": [0.15591740608215332, -0.3748335540294647, -0.01481887698173523, -2.7502059936523438, -1.215863823890686, 1.197516918182373, -1.5518850088119507], "pregrasp_goal_pose": [0.3877443513785672, 0.1330411204707978, 1.0409310360977324, 0.15529977268497674, 0.7455610148819133, 0.633640329348189, 0.13609072972015562], "pregrasp_position_error": 0.2810616531768139, "pregrasp_orientation_error_deg": 30.944254791678766}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 224, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877443513785672, 0.1330411204707978, 1.0409310360977324, 0.15529977268497674, 0.7455610148819133, 0.633640329348189, 0.13609072972015562], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1191462873275662, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023329496383666992, "door_quality": 0.05529206555279558, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07898866507542227, "step_quality_min": -0.7487473326291151, "step_quality_max": 0.5875298770936243, "alignment_signed_mean": -0.5206615981782087, "alignment_abs_mean": 0.5206615981782087, "alignment_min": -0.9045919968856941, "alignment_max": -0.1812738017877382, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1176398090415354, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023932218551635742, "door_quality": 0.04686893762627512, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06695562518039304, "step_quality_min": -0.710523908401338, "step_quality_max": 0.5615936176020213, "alignment_signed_mean": -0.5315246902828444, "alignment_abs_mean": 0.5315246902828444, "alignment_min": -0.8701355700857369, "alignment_max": -0.2881170379499877, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677443513785672, 0.1330411204707978, 1.0409310360977324, 0.15529977268497674, 0.7455610148819133, 0.633640329348189, 0.13609072972015562], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134346532553852, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020859241485595703, "door_quality": 0.04210625820435573, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0601517974347939, "step_quality_min": -0.5539354169572779, "step_quality_max": 0.5956833426599825, "alignment_signed_mean": -0.5285575526384215, "alignment_abs_mean": 0.5285575526384215, "alignment_min": -0.8477464608663288, "alignment_max": -0.06349727290614184, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1343481813862573, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02093672752380371, "door_quality": 0.04168465423382926, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.059549506048327525, "step_quality_min": -0.571506896880184, "step_quality_max": 0.5845400921999665, "alignment_signed_mean": -0.5399571554543966, "alignment_abs_mean": 0.5399571554543966, "alignment_min": -0.8510517918322563, "alignment_max": -0.12004799023307812, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774435137856724, 0.1330411204707978, 1.0409310360977324, 0.15529977268497674, 0.7455610148819133, 0.633640329348189, 0.13609072972015562], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1065743284556167, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023337602615356445, "door_quality": 0.0659787774426001, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09425539634657158, "step_quality_min": -0.6973372252614729, "step_quality_max": 0.5538555051807751, "alignment_signed_mean": -0.4987658887440866, "alignment_abs_mean": 0.4987658887440866, "alignment_min": -0.9350993073303763, "alignment_max": -0.23718361758977657, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1065720758237039, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.016455411911010742, "door_quality": 0.110727357663244, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.15818193951892, "step_quality_min": -0.7174587518176346, "step_quality_max": 0.6096042542838908, "alignment_signed_mean": -0.41660919911849886, "alignment_abs_mean": 0.44349609939869916, "alignment_min": -0.9411925387282507, "alignment_max": 0.14518926151308192, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 85, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.3108508884906769, -0.0952063649892807, 1.1857972145080566, 0.16583068668842316, 0.8910882472991943, 0.41563674807548523, 0.07555229216814041], "right_arm_pose": [0.5194330811500549, -0.05050022900104523, 1.1448941230773926, 0.12886478006839752, 0.695281445980072, 0.6951662302017212, 0.1293121576309204], "left_arm_joint_positions": [-0.2703530788421631, 0.02489665150642395, -0.3095535933971405, -1.9455344676971436, 0.8782438039779663, 1.6853516101837158, 0.45278680324554443], "right_arm_joint_positions": [0.14156246185302734, -0.3944971263408661, -0.03335520625114441, -2.7685742378234863, -1.2453919649124146, 1.2144498825073242, -1.559855341911316], "pregrasp_goal_pose": [0.3877452468456598, 0.1330413881621042, 1.0409318490092279, 0.15530258324646662, 0.7455616438999674, 0.6336396107049937, 0.13608742237171056], "pregrasp_position_error": 0.2810618317854442, "pregrasp_orientation_error_deg": 30.94409650165565}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 204, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877452468456598, 0.1330413881621042, 1.0409318490092279, 0.15530258324646662, 0.7455616438999674, 0.6336396107049937, 0.13608742237171056], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119175611348667, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02390003204345703, "door_quality": 0.053898436245674274, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07699776606524897, "step_quality_min": -0.7675054516955242, "step_quality_max": 0.5796653802713843, "alignment_signed_mean": -0.5282705095659288, "alignment_abs_mean": 0.5282705095659288, "alignment_min": -0.9093388744233042, "alignment_max": -0.21477887256885989, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.117634811709254, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023905515670776367, "door_quality": 0.04789212041995762, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06841731488565375, "step_quality_min": -0.7219677179505939, "step_quality_max": 0.5680083461360831, "alignment_signed_mean": -0.5246780793312577, "alignment_abs_mean": 0.5246780793312577, "alignment_min": -0.8745845609088367, "alignment_max": -0.24482832141320418, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677452468456598, 0.1330413881621042, 1.0409318490092279, 0.15530258324646662, 0.7455616438999674, 0.6336396107049937, 0.13608742237171056], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134373240133101, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021402597427368164, "door_quality": 0.03770697038318978, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.053867100547413976, "step_quality_min": -0.5605015919529525, "step_quality_max": 0.5683694082176528, "alignment_signed_mean": -0.5560628944378243, "alignment_abs_mean": 0.5560628944378243, "alignment_min": -0.849354648360287, "alignment_max": -0.23721255974181413, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1343427181994592, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020578384399414062, "door_quality": 0.046650794232788055, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0666439917611258, "step_quality_min": -0.5642606980405305, "step_quality_max": 0.5733923707948296, "alignment_signed_mean": -0.5362704164934703, "alignment_abs_mean": 0.5362704164934703, "alignment_min": -0.8517192707702658, "alignment_max": -0.15633164120407425, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077452468456598, 0.1330413881621042, 1.0409318490092279, 0.15530258324646662, 0.7455616438999674, 0.6336396107049937, 0.13608742237171056], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106489024795125, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023854970932006836, "door_quality": 0.06767799484160078, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09668284977371541, "step_quality_min": -0.7110985472907938, "step_quality_max": 0.5159486535142275, "alignment_signed_mean": -0.49767579932529915, "alignment_abs_mean": 0.49767579932529915, "alignment_min": -0.9275070486666606, "alignment_max": -0.2976713848298124, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1065274562956338, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02356576919555664, "door_quality": 0.07943780879070333, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.11348258398671907, "step_quality_min": -0.7171235232719709, "step_quality_max": 0.5489089833931462, "alignment_signed_mean": -0.49716671403404106, "alignment_abs_mean": 0.49716671403404106, "alignment_min": -0.9309331133041956, "alignment_max": -0.266779965541593, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 86, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31084734201431274, -0.09521554410457611, 1.1857898235321045, 0.16584190726280212, 0.8910792469978333, 0.4156513512134552, 0.0755528062582016], "right_arm_pose": [0.5236873030662537, -0.039397284388542175, 1.1449147462844849, 0.12879501283168793, 0.695285975933075, 0.6951742172241211, 0.129314124584198], "left_arm_joint_positions": [-0.2703542709350586, 0.025037318468093872, -0.30957433581352234, -1.9455480575561523, 0.8782747983932495, 1.6853652000427246, 0.4528104066848755], "right_arm_joint_positions": [0.12659049034118652, -0.41318437457084656, -0.05248233675956726, -2.7856674194335938, -1.27572762966156, 1.2314236164093018, -1.5677441358566284], "pregrasp_goal_pose": [0.38774239507510255, 0.13304161391844083, 1.0409317192634875, 0.1552985009678143, 0.7455644270884018, 0.633636310447411, 0.13609219940939077], "pregrasp_position_error": 0.28106591708398887, "pregrasp_orientation_error_deg": 30.94186426706869}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 204, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774239507510255, 0.13304161391844083, 1.0409317192634875, 0.1552985009678143, 0.7455644270884018, 0.633636310447411, 0.13609219940939077], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119146662974346, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02417302131652832, "door_quality": 0.053000599339735756, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07571514191390823, "step_quality_min": -0.7584581730820933, "step_quality_max": 0.557975159248662, "alignment_signed_mean": -0.5423306060580061, "alignment_abs_mean": 0.5423306060580061, "alignment_min": -0.9106712949774004, "alignment_max": -0.2706586809905767, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1175441720858976, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023459672927856445, "door_quality": 0.049579171552324795, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07082738793189257, "step_quality_min": -0.739981936664801, "step_quality_max": 0.5777781196427673, "alignment_signed_mean": -0.5267075624368411, "alignment_abs_mean": 0.5267075624368411, "alignment_min": -0.8766952468026662, "alignment_max": -0.21584668358547984, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774239507510253, 0.13304161391844083, 1.0409317192634875, 0.1552985009678143, 0.7455644270884018, 0.633636310447411, 0.13609219940939077], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134313285343966, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022025346755981445, "door_quality": 0.03237776532556472, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04625395046509246, "step_quality_min": -0.5736412561294517, "step_quality_max": 0.5635123597031365, "alignment_signed_mean": -0.5669412350355483, "alignment_abs_mean": 0.5669412350355483, "alignment_min": -0.8477161512187797, "alignment_max": -0.2552035518261143, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1343252097888767, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022990703582763672, "door_quality": 0.026012237784990642, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.037160339692843776, "step_quality_min": -0.5619559017386042, "step_quality_max": 0.5367600030944898, "alignment_signed_mean": -0.5831641503094727, "alignment_abs_mean": 0.5831641503094727, "alignment_min": -0.8500567437330547, "alignment_max": -0.30448828538601797, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774239507510257, 0.13304161391844083, 1.0409317192634875, 0.1552985009678143, 0.7455644270884018, 0.633636310447411, 0.13609219940939077], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1065489569696658, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024252891540527344, "door_quality": 0.06870804286264073, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09815434694662963, "step_quality_min": -0.7091980306679849, "step_quality_max": 0.5338269639908606, "alignment_signed_mean": -0.5008677605943046, "alignment_abs_mean": 0.5008677605943046, "alignment_min": -0.9204162108952499, "alignment_max": -0.24681496634400002, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1064750650705297, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023941516876220703, "door_quality": 0.07116849949777342, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.10166928499681918, "step_quality_min": -0.7158853463184384, "step_quality_max": 0.5686842309719673, "alignment_signed_mean": -0.49997033604996344, "alignment_abs_mean": 0.49997033604996344, "alignment_min": -0.930011724413691, "alignment_max": -0.19587022697610101, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 87, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31086939573287964, -0.09522904455661774, 1.1858806610107422, 0.16581891477108002, 0.891086995601654, 0.4156316816806793, 0.07561974972486496], "right_arm_pose": [0.527908980846405, -0.02839294821023941, 1.1449002027511597, 0.12874363362789154, 0.6952943205833435, 0.6951698064804077, 0.1293441653251648], "left_arm_joint_positions": [-0.27033376693725586, 0.024828463792800903, -0.3095948398113251, -1.9453985691070557, 0.8782519102096558, 1.685319423675537, 0.45283234119415283], "right_arm_joint_positions": [0.1110992431640625, -0.4306933581829071, -0.07190820574760437, -2.8014698028564453, -1.3067842721939087, 1.2485311031341553, -1.5754848718643188], "pregrasp_goal_pose": [0.3877451140301946, 0.13304111698354332, 1.0409303147062305, 0.15529728895414052, 0.7455614131555108, 0.63363984320996, 0.1360936455309686], "pregrasp_position_error": 0.2811187393381971, "pregrasp_orientation_error_deg": 30.942909265541793}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 194, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877451140301946, 0.13304111698354332, 1.0409303147062305, 0.15529728895414052, 0.7455614131555108, 0.63363984320996, 0.1360936455309686], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192595923192856, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022947072982788086, "door_quality": 0.06116043383990556, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08737204834272223, "step_quality_min": -0.7787207243769444, "step_quality_max": 0.5499949535296047, "alignment_signed_mean": -0.5307037499120743, "alignment_abs_mean": 0.5307037499120743, "alignment_min": -0.9211876398021457, "alignment_max": -0.25255246929045294, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1177489268120564, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024840593338012695, "door_quality": 0.04493132388772549, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06418760555389356, "step_quality_min": -0.7565331888516812, "step_quality_max": 0.5578802388480711, "alignment_signed_mean": -0.5339465690795815, "alignment_abs_mean": 0.5339465690795815, "alignment_min": -0.8896627911181966, "alignment_max": -0.2949274571878667, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677451140301946, 0.13304111698354332, 1.0409303147062305, 0.15529728895414052, 0.7455614131555108, 0.63363984320996, 0.1360936455309686], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134487457560781, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02088642120361328, "door_quality": 0.038377748258410296, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.05482535465487185, "step_quality_min": -0.572406289021488, "step_quality_max": 0.5856829774745168, "alignment_signed_mean": -0.5435643913759518, "alignment_abs_mean": 0.5435643913759518, "alignment_min": -0.8507589948777873, "alignment_max": -0.174033576067357, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1344427733585862, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021481752395629883, "door_quality": 0.033422411205549694, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04774630172221385, "step_quality_min": -0.5665352073014489, "step_quality_max": 0.5804742399691908, "alignment_signed_mean": -0.5516533764218424, "alignment_abs_mean": 0.5516533764218424, "alignment_min": -0.8485927066190814, "alignment_max": -0.20029184031517902, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774511403019464, 0.13304111698354332, 1.0409303147062305, 0.15529728895414052, 0.7455614131555108, 0.63363984320996, 0.1360936455309686], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106662163305215, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023685693740844727, "door_quality": 0.07863781867400244, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.11233974096286063, "step_quality_min": -0.7087522139755104, "step_quality_max": 0.5490742887618592, "alignment_signed_mean": -0.5016271041672689, "alignment_abs_mean": 0.5016271041672689, "alignment_min": -0.9250368564956248, "alignment_max": -0.2583240441667782, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1066848879624238, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019266128540039062, "door_quality": 0.09580901281559931, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.13687001830799903, "step_quality_min": -0.7289021142314875, "step_quality_max": 0.5810016529571538, "alignment_signed_mean": -0.4688739772142588, "alignment_abs_mean": 0.4688739772142588, "alignment_min": -0.9423916297007983, "alignment_max": -0.11699777006530497, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 88, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.3108803331851959, -0.0952279269695282, 1.185921311378479, 0.16579492390155792, 0.8910949230194092, 0.41561537981033325, 0.0756688192486763], "right_arm_pose": [0.5320489406585693, -0.01753024011850357, 1.1449519395828247, 0.12868820130825043, 0.6953002214431763, 0.6951871514320374, 0.12927435338497162], "left_arm_joint_positions": [-0.27034497261047363, 0.02493146061897278, -0.30958840250968933, -1.9452214241027832, 0.8782402276992798, 1.6853041648864746, 0.45280182361602783], "right_arm_joint_positions": [0.09516525268554688, -0.44725367426872253, -0.09165021777153015, -2.815718650817871, -1.3386975526809692, 1.2657980918884277, -1.583053708076477], "pregrasp_goal_pose": [0.387748222589329, 0.13303745905251096, 1.0409313935461497, 0.15530315990965968, 0.7455600159215928, 0.6336415279046722, 0.1360867565037145], "pregrasp_position_error": 0.28113312709508675, "pregrasp_orientation_error_deg": 30.943588566564475}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 190, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.387748222589329, 0.13303745905251096, 1.0409313935461497, 0.15530315990965968, 0.7455600159215928, 0.6336415279046722, 0.1360867565037145], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119228548965595, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023705005645751953, "door_quality": 0.0542373153855479, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07748187912221129, "step_quality_min": -0.7581601629567609, "step_quality_max": 0.5816531052208775, "alignment_signed_mean": -0.5265870220572333, "alignment_abs_mean": 0.5265870220572333, "alignment_min": -0.9043304389403342, "alignment_max": -0.19554192323643224, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1175786113496242, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02353072166442871, "door_quality": 0.0513762006843086, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07339457240615514, "step_quality_min": -0.7042368436381725, "step_quality_max": 0.5556855076721354, "alignment_signed_mean": -0.5298052998964348, "alignment_abs_mean": 0.5298052998964348, "alignment_min": -0.87306888299506, "alignment_max": -0.3002267508849282, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.367748222589329, 0.13303745905251096, 1.0409313935461497, 0.15530315990965968, 0.7455600159215928, 0.6336415279046722, 0.1360867565037145], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344921557727994, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022580385208129883, "door_quality": 0.023141005946766935, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.033058579923952766, "step_quality_min": -0.5632275252679444, "step_quality_max": 0.5445165760299702, "alignment_signed_mean": -0.5708470852776275, "alignment_abs_mean": 0.5708470852776275, "alignment_min": -0.8490891703918226, "alignment_max": -0.2733640040054225, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.134334624528965, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02227306365966797, "door_quality": 0.031607175538117996, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.045153107911597136, "step_quality_min": -0.5487178435259417, "step_quality_max": 0.5692390497196389, "alignment_signed_mean": -0.5693476893225031, "alignment_abs_mean": 0.5693476893225031, "alignment_min": -0.8503771739930654, "alignment_max": -0.2374181470927237, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.407748222589329, 0.13303745905251096, 1.0409313935461497, 0.15530315990965968, 0.7455600159215928, 0.6336415279046722, 0.1360867565037145], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066888278776483, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.025618314743041992, "door_quality": 0.04235771935040127, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.060511027643430394, "step_quality_min": -0.7062694957549618, "step_quality_max": 0.5590095299285963, "alignment_signed_mean": -0.5032395908572236, "alignment_abs_mean": 0.5032395908572236, "alignment_min": -0.9342331235342772, "alignment_max": -0.23022471974178402, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.106572254722112, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023838043212890625, "door_quality": 0.06633545146087484, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09476493065839264, "step_quality_min": -0.7019420986079653, "step_quality_max": 0.5158402252287271, "alignment_signed_mean": -0.49309553720768395, "alignment_abs_mean": 0.49309553720768395, "alignment_min": -0.9367284315039341, "alignment_max": -0.2818641645487448, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 89, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31090256571769714, -0.0952146053314209, 1.1858690977096558, 0.1658145636320114, 0.8910990357398987, 0.4156073033809662, 0.07562082260847092], "right_arm_pose": [0.5362287759780884, -0.0066705793142318726, 1.1449204683303833, 0.12862057983875275, 0.695292592048645, 0.6951900124549866, 0.1293671578168869], "left_arm_joint_positions": [-0.27033233642578125, 0.025028735399246216, -0.30956193804740906, -1.9453911781311035, 0.8782452344894409, 1.685363531112671, 0.45281898975372314], "right_arm_joint_positions": [0.07860064506530762, -0.4625227153301239, -0.1119055449962616, -2.8288307189941406, -1.3711668252944946, 1.2831871509552002, -1.5904635190963745], "pregrasp_goal_pose": [0.38774812028917205, 0.13303776047904203, 1.0409330493200277, 0.15530495159911892, 0.745561735948657, 0.6336395197978012, 0.13608463854687053], "pregrasp_position_error": 0.28108866906773655, "pregrasp_orientation_error_deg": 30.94557911707854}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 190, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774812028917205, 0.13303776047904203, 1.0409330493200277, 0.15530495159911892, 0.745561735948657, 0.6336395197978012, 0.13608463854687053], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192286722805513, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.025220632553100586, "door_quality": 0.04629564579856648, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06613663685509498, "step_quality_min": -0.7633815602864202, "step_quality_max": 0.555966106294132, "alignment_signed_mean": -0.5390292599435541, "alignment_abs_mean": 0.5390292599435541, "alignment_min": -0.9098093936486212, "alignment_max": -0.2813238340688909, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1177994979087222, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024207115173339844, "door_quality": 0.04785429928092238, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06836328468703197, "step_quality_min": -0.7197455507809837, "step_quality_max": 0.5601870499835486, "alignment_signed_mean": -0.5376246683321031, "alignment_abs_mean": 0.5376246683321031, "alignment_min": -0.8759746602895012, "alignment_max": -0.2845139688322567, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774812028917203, 0.13303776047904203, 1.0409330493200277, 0.15530495159911892, 0.745561735948657, 0.6336395197978012, 0.13608463854687053], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134396001046459, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021244287490844727, "door_quality": 0.0406114812559204, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.058016401794172, "step_quality_min": -0.5624203371008605, "step_quality_max": 0.6086898314609643, "alignment_signed_mean": -0.5370792052498659, "alignment_abs_mean": 0.5370792052498659, "alignment_min": -0.8507957746446753, "alignment_max": -0.054087883405627674, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1344170672475091, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022510051727294922, "door_quality": 0.027503419287178598, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.039290598981683716, "step_quality_min": -0.574058969512738, "step_quality_max": 0.5566283935143079, "alignment_signed_mean": -0.5678846194665393, "alignment_abs_mean": 0.5678846194665393, "alignment_min": -0.8490594481547576, "alignment_max": -0.27337671224649585, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774812028917207, 0.13303776047904203, 1.0409330493200277, 0.15530495159911892, 0.745561735948657, 0.6336395197978012, 0.13608463854687053], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1065271422399487, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023839235305786133, "door_quality": 0.07406862192193576, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.10581231703133681, "step_quality_min": -0.7032099902563665, "step_quality_max": 0.5541984905595159, "alignment_signed_mean": -0.4880564187739199, "alignment_abs_mean": 0.4880564187739199, "alignment_min": -0.9210592585299813, "alignment_max": -0.24347955495388537, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1066856263819784, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02535700798034668, "door_quality": 0.0681536095552825, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09736229936468929, "step_quality_min": -0.7105993521303529, "step_quality_max": 0.534552884490006, "alignment_signed_mean": -0.490004334575301, "alignment_abs_mean": 0.490004334575301, "alignment_min": -0.9251149068433211, "alignment_max": -0.2701957983642524, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 90, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3108668327331543, -0.09520533680915833, 1.1859264373779297, 0.1657884120941162, 0.8910989761352539, 0.41560885310173035, 0.07567127048969269], "right_arm_pose": [0.5402828454971313, 0.003897055983543396, 1.144927978515625, 0.12855033576488495, 0.6953083872795105, 0.6951913833618164, 0.12934505939483643], "left_arm_joint_positions": [-0.2703423500061035, 0.024842768907546997, -0.30956169962882996, -1.9453296661376953, 0.8782180547714233, 1.6853363513946533, 0.4528390169143677], "right_arm_joint_positions": [0.06192803382873535, -0.4764973819255829, -0.13209888339042664, -2.8402438163757324, -1.4036413431167603, 1.3006367683410645, -1.5974608659744263], "pregrasp_goal_pose": [0.387744735814018, 0.1330411915881266, 1.040931247541387, 0.15530163380148948, 0.7455600766115803, 0.6336414454632497, 0.1360885494550009], "pregrasp_position_error": 0.28112327328639714, "pregrasp_orientation_error_deg": 30.94440207457756}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 173, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.387744735814018, 0.1330411915881266, 1.040931247541387, 0.15530163380148948, 0.7455600766115803, 0.6336414454632497, 0.1360885494550009], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192672853374181, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024504423141479492, "door_quality": 0.0459246468939129, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06560663841987557, "step_quality_min": -0.7579187360439708, "step_quality_max": 0.556579793248317, "alignment_signed_mean": -0.5390954522782024, "alignment_abs_mean": 0.5390954522782024, "alignment_min": -0.9043228904367503, "alignment_max": -0.2975434623472827, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1177389213300661, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02468705177307129, "door_quality": 0.04534133758532751, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06477333940761074, "step_quality_min": -0.7113531678447924, "step_quality_max": 0.5424188639280108, "alignment_signed_mean": -0.5434581576974542, "alignment_abs_mean": 0.5434581576974542, "alignment_min": -0.8763448483805008, "alignment_max": -0.3303918711558449, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.367744735814018, 0.1330411915881266, 1.040931247541387, 0.15530163380148948, 0.7455600766115803, 0.6336414454632497, 0.1360885494550009], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344340515498235, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021082162857055664, "door_quality": 0.03898276750918915, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.05568966787027022, "step_quality_min": -0.5390068720858676, "step_quality_max": 0.6144017273097353, "alignment_signed_mean": -0.5401609709653846, "alignment_abs_mean": 0.5401609709653846, "alignment_min": -0.849020629639588, "alignment_max": -0.059169265673003145, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1344395192547514, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023558378219604492, "door_quality": 0.025286228869225633, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.036123184098893764, "step_quality_min": -0.5498640176999603, "step_quality_max": 0.5273629203100756, "alignment_signed_mean": -0.5926544876823638, "alignment_abs_mean": 0.5926544876823638, "alignment_min": -0.8483639150250898, "alignment_max": -0.3285563578993351, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774473581401804, 0.1330411915881266, 1.040931247541387, 0.15530163380148948, 0.7455600766115803, 0.6336414454632497, 0.1360885494550009], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066256137919777, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021529674530029297, "door_quality": 0.07613217220997724, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.1087602460142532, "step_quality_min": -0.6628457997557483, "step_quality_max": 0.5383700378983169, "alignment_signed_mean": -0.5001544555844544, "alignment_abs_mean": 0.5001544555844544, "alignment_min": -0.9405580518445086, "alignment_max": -0.2629315585878464, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1066296669812452, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022342681884765625, "door_quality": 0.07346880610711654, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.10495543729588076, "step_quality_min": -0.6938797978882528, "step_quality_max": 0.5636050003438707, "alignment_signed_mean": -0.4922820833799589, "alignment_abs_mean": 0.4922820833799589, "alignment_min": -0.9327725360395803, "alignment_max": -0.23406945781433755, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 91, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3108583986759186, -0.09521255642175674, 1.1857709884643555, 0.16585107147693634, 0.8910871744155884, 0.41563528776168823, 0.07552815228700638], "right_arm_pose": [0.543886661529541, 0.013189926743507385, 1.1449071168899536, 0.12848302721977234, 0.6952974796295166, 0.6952080130577087, 0.1293812096118927], "left_arm_joint_positions": [-0.27034759521484375, 0.025129348039627075, -0.3095845878124237, -1.9456019401550293, 0.878243088722229, 1.6853134632110596, 0.45283043384552], "right_arm_joint_positions": [0.046887874603271484, -0.48790499567985535, -0.15018197894096375, -2.8491764068603516, -1.432580828666687, 1.316124439239502, -1.6034644842147827], "pregrasp_goal_pose": [0.38774829955724527, 0.13303726300810154, 1.0409304242028452, 0.1552992572800408, 0.7455600520418463, 0.6336414569943284, 0.1360913423614146], "pregrasp_position_error": 0.2810495080637855, "pregrasp_orientation_error_deg": 30.94527582420073}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 155, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774829955724527, 0.13303726300810154, 1.0409304242028452, 0.1552992572800408, 0.7455600520418463, 0.6336414569943284, 0.1360913423614146], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1191658287272768, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02355360984802246, "door_quality": 0.05810619000407978, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08300884286297112, "step_quality_min": -0.7805305042287238, "step_quality_max": 0.567676686515839, "alignment_signed_mean": -0.5325331052972628, "alignment_abs_mean": 0.5325331052972628, "alignment_min": -0.919860490842843, "alignment_max": -0.21552300815566827, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1176427594134297, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024118423461914062, "door_quality": 0.047331219950554816, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0676160285007926, "step_quality_min": -0.7285120968628948, "step_quality_max": 0.5616352707367408, "alignment_signed_mean": -0.526521788453827, "alignment_abs_mean": 0.526521788453827, "alignment_min": -0.8770436524087624, "alignment_max": -0.28752486396766336, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774829955724525, 0.13303726300810154, 1.0409304242028452, 0.1552992572800408, 0.7455600520418463, 0.6336414569943284, 0.1360913423614146], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1343580885297118, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022386550903320312, "door_quality": 0.02932194208991926, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04188848869988466, "step_quality_min": -0.5685683183361889, "step_quality_max": 0.5554227988223122, "alignment_signed_mean": -0.5713615951845779, "alignment_abs_mean": 0.5713615951845779, "alignment_min": -0.8492466199195364, "alignment_max": -0.28657328148507544, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1343564888721165, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023569345474243164, "door_quality": 0.022479841032620417, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.03211405861802917, "step_quality_min": -0.5599830471354191, "step_quality_max": 0.5386893238136855, "alignment_signed_mean": -0.5961874931644819, "alignment_abs_mean": 0.5961874931644819, "alignment_min": -0.8512924929701389, "alignment_max": -0.2796716861378711, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077482995572453, 0.13303726300810154, 1.0409304242028452, 0.1552992572800408, 0.7455600520418463, 0.6336414569943284, 0.1360913423614146], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1065504623653428, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022590160369873047, "door_quality": 0.07507664394241943, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.10725234848917062, "step_quality_min": -0.7108566118084488, "step_quality_max": 0.5474411546523492, "alignment_signed_mean": -0.4907909916389111, "alignment_abs_mean": 0.4907909916389111, "alignment_min": -0.93348448695777, "alignment_max": -0.24785937898475513, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1065852175248065, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02704763412475586, "door_quality": 0.049700175085943786, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07100025012277685, "step_quality_min": -0.7063031874787815, "step_quality_max": 0.5292639777804675, "alignment_signed_mean": -0.5005957207871085, "alignment_abs_mean": 0.5005957207871085, "alignment_min": -0.9267098362538926, "alignment_max": -0.28465793244776016, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 92, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31085139513015747, -0.09520579874515533, 1.1859667301177979, 0.16577689349651337, 0.8911000490188599, 0.4156140983104706, 0.07565546035766602], "right_arm_pose": [0.5468004941940308, 0.020646870136260986, 1.1448934078216553, 0.1284029334783554, 0.6953009366989136, 0.6952186226844788, 0.1293848305940628], "left_arm_joint_positions": [-0.2703373432159424, 0.024847298860549927, -0.3095543086528778, -1.9453136920928955, 0.8781806230545044, 1.685307264328003, 0.4528573751449585], "right_arm_joint_positions": [0.0346372127532959, -0.4963788688182831, -0.1648537814617157, -2.8557543754577637, -1.4561244249343872, 1.3287060260772705, -1.608134388923645], "pregrasp_goal_pose": [0.387744993593086, 0.13304076114695124, 1.040931142219658, 0.15530055991923722, 0.7455605151557061, 0.6336409223083913, 0.1360898082359615], "pregrasp_position_error": 0.2811484293822715, "pregrasp_orientation_error_deg": 30.944297040212117}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 152, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.387744993593086, 0.13304076114695124, 1.040931142219658, 0.15530055991923722, 0.7455605151557061, 0.6336409223083913, 0.1360898082359615], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119392519114548, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023978710174560547, "door_quality": 0.05548094615176933, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07925849450252762, "step_quality_min": -0.7646841236296622, "step_quality_max": 0.5503230167287898, "alignment_signed_mean": -0.5391216079387942, "alignment_abs_mean": 0.5391216079387942, "alignment_min": -0.9154044631664335, "alignment_max": -0.292134725621188, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1178595456086595, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02425551414489746, "door_quality": 0.05037258453171217, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07196083504530311, "step_quality_min": -0.718615376067173, "step_quality_max": 0.5371596047948108, "alignment_signed_mean": -0.5253712130950844, "alignment_abs_mean": 0.5253712130950844, "alignment_min": -0.8730284138569728, "alignment_max": -0.28445363781994426, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.367744993593086, 0.13304076114695124, 1.040931142219658, 0.15530055991923722, 0.7455605151557061, 0.6336409223083913, 0.1360898082359615], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134610075628167, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020628929138183594, "door_quality": 0.03729221933506239, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.05327459905008913, "step_quality_min": -0.5458283241570637, "step_quality_max": 0.5866048461680577, "alignment_signed_mean": -0.5277892966280329, "alignment_abs_mean": 0.5277892966280329, "alignment_min": -0.8490225835510178, "alignment_max": -0.1292745438789496, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1345539353865959, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02249431610107422, "door_quality": 0.030274636190211625, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.043249480271730895, "step_quality_min": -0.5630922777360096, "step_quality_max": 0.5597422702973405, "alignment_signed_mean": -0.5765027038331924, "alignment_abs_mean": 0.5765027038331924, "alignment_min": -0.8510300631347273, "alignment_max": -0.2710022410425943, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.407744993593086, 0.13304076114695124, 1.040931142219658, 0.15530055991923722, 0.7455605151557061, 0.6336409223083913, 0.1360898082359615], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106837576343263, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023227453231811523, "door_quality": 0.0675554294370855, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09650775633869359, "step_quality_min": -0.7095935275149936, "step_quality_max": 0.5446940155584585, "alignment_signed_mean": -0.500054795410163, "alignment_abs_mean": 0.500054795410163, "alignment_min": -0.9367275176084742, "alignment_max": -0.25466890449695395, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1067230293463162, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023512601852416992, "door_quality": 0.06233202376855026, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0890457482407861, "step_quality_min": -0.7045599557207514, "step_quality_max": 0.5679925837029159, "alignment_signed_mean": -0.4790171163491776, "alignment_abs_mean": 0.4790171163491776, "alignment_min": -0.9296076293028382, "alignment_max": -0.23230175281110305, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 93, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3108785152435303, -0.09516605734825134, 1.1857417821884155, 0.16585156321525574, 0.891085684299469, 0.4156395494937897, 0.07552053034305573], "right_arm_pose": [0.5489104390144348, 0.026079677045345306, 1.1449054479599, 0.12834501266479492, 0.6953039169311523, 0.695228099822998, 0.12937569618225098], "left_arm_joint_positions": [-0.27034926414489746, 0.02513769268989563, -0.3095419108867645, -1.9455986022949219, 0.8782211542129517, 1.6853179931640625, 0.4528146982192993], "right_arm_joint_positions": [0.02563023567199707, -0.5021426677703857, -0.17554971575737, -2.8600926399230957, -1.4733282327651978, 1.3379442691802979, -1.611406683921814], "pregrasp_goal_pose": [0.3877449398748068, 0.13304111291349002, 1.0409316470050378, 0.15529974969845822, 0.7455629010643795, 0.6336381127687353, 0.13609074306115634], "pregrasp_position_error": 0.28099276689319824, "pregrasp_orientation_error_deg": 30.944475838708353}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 152, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877449398748068, 0.13304111291349002, 1.0409316470050378, 0.15529974969845822, 0.7455629010643795, 0.6336381127687353, 0.13609074306115634], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1190245181210812, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023053646087646484, "door_quality": 0.06027440509606232, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08610629299437475, "step_quality_min": -0.7636949596751522, "step_quality_max": 0.54677166481043, "alignment_signed_mean": -0.5360447266270253, "alignment_abs_mean": 0.5360447266270253, "alignment_min": -0.915326244607507, "alignment_max": -0.2730796565997054, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.117498018642831, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024247407913208008, "door_quality": 0.046500675270375824, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0664295361005369, "step_quality_min": -0.706426357082959, "step_quality_max": 0.5292318862653524, "alignment_signed_mean": -0.5465248536196031, "alignment_abs_mean": 0.5465248536196031, "alignment_min": -0.875164698738037, "alignment_max": -0.31389619982828126, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677449398748068, 0.13304111291349002, 1.0409316470050378, 0.15529974969845822, 0.7455629010643795, 0.6336381127687353, 0.13609074306115634], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134260805794197, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023454666137695312, "door_quality": 0.02213745502077138, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.031624935743959116, "step_quality_min": -0.5626983560343828, "step_quality_max": 0.5305679638336354, "alignment_signed_mean": -0.5903505794475445, "alignment_abs_mean": 0.5903505794475445, "alignment_min": -0.8492588435445321, "alignment_max": -0.3282301793766914, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1342964116327865, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02133917808532715, "door_quality": 0.038468642315502, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.05495520330786, "step_quality_min": -0.552480062994757, "step_quality_max": 0.5857384078780351, "alignment_signed_mean": -0.5362044612173733, "alignment_abs_mean": 0.5362044612173733, "alignment_min": -0.848269783761337, "alignment_max": -0.13460809336128923, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077449398748068, 0.13304111291349002, 1.0409316470050378, 0.15529974969845822, 0.7455629010643795, 0.6336381127687353, 0.13609074306115634], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1063882803608578, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023746967315673828, "door_quality": 0.05671447578617188, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08102067969453126, "step_quality_min": -0.7221448983873203, "step_quality_max": 0.5685806702160321, "alignment_signed_mean": -0.4788116825694668, "alignment_abs_mean": 0.4788116825694668, "alignment_min": -0.9355936683023884, "alignment_max": -0.20687844823624568, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.106480573862916, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023452043533325195, "door_quality": 0.06390891876721179, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09129845538173113, "step_quality_min": -0.7037567068323924, "step_quality_max": 0.5642654270421423, "alignment_signed_mean": -0.5014318579631911, "alignment_abs_mean": 0.5014318579631911, "alignment_min": -0.9209499323561671, "alignment_max": -0.19900996958665174, "door_contact_steps": 12, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 94, "state": {"door_angle": 1.570794939994812, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3108839690685272, -0.09519504755735397, 1.1857484579086304, 0.16587787866592407, 0.8910856246948242, 0.41562899947166443, 0.0755222737789154], "right_arm_pose": [0.5502382516860962, 0.029415316879749298, 1.1448919773101807, 0.12830688059329987, 0.6953323483467102, 0.6952099800109863, 0.1293579488992691], "left_arm_joint_positions": [-0.27035951614379883, 0.024988442659378052, -0.309557169675827, -1.9454247951507568, 0.8782361745834351, 1.6853716373443604, 0.45286476612091064], "right_arm_joint_positions": [0.02008843421936035, -0.5056681632995605, -0.18220898509025574, -2.862539768218994, -1.4838329553604126, 1.343686580657959, -1.6134141683578491], "pregrasp_goal_pose": [0.38774474258318736, 0.13304202442811053, 1.040929692703883, 0.15529871583672206, 0.7455580251007864, 0.6336438348377958, 0.13609199329619623], "pregrasp_position_error": 0.2810199535428005, "pregrasp_orientation_error_deg": 30.94641102736569}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 139, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774474258318736, 0.13304202442811053, 1.040929692703883, 0.15529871583672206, 0.7455580251007864, 0.6336438348377958, 0.13609199329619623], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1191421092645892, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02388453483581543, "door_quality": 0.055517662900754085, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07931094700107727, "step_quality_min": -0.7594130569263311, "step_quality_max": 0.5530668828384296, "alignment_signed_mean": -0.541826916322058, "alignment_abs_mean": 0.541826916322058, "alignment_min": -0.9088335385599169, "alignment_max": -0.29362650041966853, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1176178414350866, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02388930320739746, "door_quality": 0.04756533998875201, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06795048569821716, "step_quality_min": -0.7309296407936802, "step_quality_max": 0.5855707172766758, "alignment_signed_mean": -0.5207148082631272, "alignment_abs_mean": 0.5207148082631272, "alignment_min": -0.8762470369244622, "alignment_max": -0.19660091190763695, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774474258318735, 0.13304202442811053, 1.040929692703883, 0.15529871583672206, 0.7455580251007864, 0.6336438348377958, 0.13609199329619623], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1343259404684838, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021638870239257812, "door_quality": 0.035615863803228676, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.05087980543318382, "step_quality_min": -0.5623563046102835, "step_quality_max": 0.5925213472305044, "alignment_signed_mean": -0.5423265305469251, "alignment_abs_mean": 0.5423265305469251, "alignment_min": -0.8512754180764509, "alignment_max": -0.11838405516827838, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.134283659334084, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024463415145874023, "door_quality": 0.01791978001088205, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.025599685729831498, "step_quality_min": -0.5716366007814855, "step_quality_max": 0.5278193617335075, "alignment_signed_mean": -0.6017834272735721, "alignment_abs_mean": 0.6017834272735721, "alignment_min": -0.8489566874460605, "alignment_max": -0.37912018005005466, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077447425831874, 0.13304202442811053, 1.040929692703883, 0.15529871583672206, 0.7455580251007864, 0.6336438348377958, 0.13609199329619623], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1065035447937053, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021071672439575195, "door_quality": 0.08802204535500092, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.12574577907857276, "step_quality_min": -0.7184537366830335, "step_quality_max": 0.5741942394281392, "alignment_signed_mean": -0.4869358805693867, "alignment_abs_mean": 0.4869358805693867, "alignment_min": -0.9412556181364026, "alignment_max": -0.1437392291898706, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1064996530319935, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02265310287475586, "door_quality": 0.07785915834852904, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.1112273690693272, "step_quality_min": -0.7228746342178479, "step_quality_max": 0.5549269284721414, "alignment_signed_mean": -0.48988970270928534, "alignment_abs_mean": 0.48988970270928534, "alignment_min": -0.9269877836702394, "alignment_max": -0.21487494015882377, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 95, "state": {"door_angle": 1.5705772638320923, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3108518123626709, -0.09515753388404846, 1.185227870941162, 0.16608242690563202, 0.8910745978355408, 0.4156629145145416, 0.07501398772001266], "right_arm_pose": [0.550813615322113, 0.030811578035354614, 1.1451858282089233, 0.12811346352100372, 0.6951980590820312, 0.6953717470169067, 0.1294018179178238], "left_arm_joint_positions": [-0.2703359127044678, 0.02558496594429016, -0.30956336855888367, -1.945805311203003, 0.8781362771987915, 1.685272216796875, 0.4529153108596802], "right_arm_joint_positions": [0.01785755157470703, -0.5067832469940186, -0.18483373522758484, -2.8639140129089355, -1.4881738424301147, 1.3460090160369873, -1.6142677068710327], "pregrasp_goal_pose": [0.38774375845214293, 0.13304185892024595, 1.0409302942150318, 0.1552962053356869, 0.7455628471769115, 0.6336381502036231, 0.13609490851727], "pregrasp_position_error": 0.2807296295347329, "pregrasp_orientation_error_deg": 30.956017308347402}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 135, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774375845214293, 0.13304185892024595, 1.0409302942150318, 0.1552962053356869, 0.7455628471769115, 0.6336381502036231, 0.13609490851727], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1188711169256096, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.010282516479492188, "door_quality": 0.00042423188291370597, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.00060604554701958, "step_quality_min": -0.6146290064845961, "step_quality_max": 0.5143288526986102, "alignment_signed_mean": -0.7611822053925502, "alignment_abs_mean": 0.7611822053925502, "alignment_min": -0.9301684532772199, "alignment_max": -0.4008299948651825, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1173157582636168, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.010726690292358398, "door_quality": 0.004564465413473903, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.00652066487639129, "step_quality_min": -0.665152135426493, "step_quality_max": 0.5972816577938603, "alignment_signed_mean": -0.7171034326862152, "alignment_abs_mean": 0.7181749175416269, "alignment_min": -0.9140979881410973, "alignment_max": 0.016268711721332926, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677437584521429, 0.13304185892024595, 1.0409302942150318, 0.1552962053356869, 0.7455628471769115, 0.6336381502036231, 0.13609490851727], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1341154465360859, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.010007143020629883, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.0019183289099023923, "step_quality_min": -0.3863976458366934, "step_quality_max": 0.5200746609228023, "alignment_signed_mean": -0.779171604679276, "alignment_abs_mean": 0.779171604679276, "alignment_min": -0.8865289163979357, "alignment_max": -0.42609115766626166, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1341221050698547, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.00994873046875, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.0047576010402845025, "step_quality_min": -0.43499169295935275, "step_quality_max": 0.5462675823403197, "alignment_signed_mean": -0.7823462039965935, "alignment_abs_mean": 0.7823462039965935, "alignment_min": -0.8895328270497634, "alignment_max": -0.354540460490784, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774375845214295, 0.13304185892024595, 1.0409302942150318, 0.1552962053356869, 0.7455628471769115, 0.6336381502036231, 0.13609490851727], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106330109629652, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01020193099975586, "door_quality": 0.010852504364810969, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.01550357766401567, "step_quality_min": -0.6184165549341871, "step_quality_max": 0.5443513769154871, "alignment_signed_mean": -0.7333341319336923, "alignment_abs_mean": 0.7333341319336923, "alignment_min": -0.9447531763119661, "alignment_max": -0.3246393709157282, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1061846727821687, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.009566783905029297, "door_quality": 0.010438514845923428, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.014912164065604897, "step_quality_min": -0.5621866190339858, "step_quality_max": 0.5342303340670516, "alignment_signed_mean": -0.7335328946278735, "alignment_abs_mean": 0.7335328946278735, "alignment_min": -0.9665609888099085, "alignment_max": -0.34753173629966927, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 96, "state": {"door_angle": 1.5708855390548706, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3108556866645813, -0.09517329931259155, 1.18559992313385, 0.16592441499233246, 0.8910801410675049, 0.4156515300273895, 0.07535964995622635], "right_arm_pose": [0.5508819818496704, 0.0312129408121109, 1.1452791690826416, 0.12829512357711792, 0.695224404335022, 0.6953548192977905, 0.12917126715183258], "left_arm_joint_positions": [-0.27033352851867676, 0.025184422731399536, -0.309580534696579, -1.9455738067626953, 0.8782047033309937, 1.685314416885376, 0.45289361476898193], "right_arm_joint_positions": [0.017078876495361328, -0.5075278282165527, -0.1856989562511444, -2.863833427429199, -1.4897290468215942, 1.3467967510223389, -1.6144837141036987], "pregrasp_goal_pose": [0.38774431750732724, 0.1330417587774086, 1.0409299099787135, 0.15529515493574417, 0.7455624109666382, 0.6336386551065609, 0.13609614602128056], "pregrasp_position_error": 0.28093306497847775, "pregrasp_orientation_error_deg": 30.94777352522619}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 135, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774431750732724, 0.1330417587774086, 1.0409299099787135, 0.15529515493574417, 0.7455624109666382, 0.6336386551065609, 0.13609614602128056], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1190864011779456, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.010537385940551758, "door_quality": 2.9307096364900027e-05, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 4.1867280521285756e-05, "step_quality_min": -0.6437169014465633, "step_quality_max": 0.5480321801835809, "alignment_signed_mean": -0.7443445210156587, "alignment_abs_mean": 0.7443445210156587, "alignment_min": -0.9215978581107644, "alignment_max": -0.33026794734869613, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1175572322876994, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.009903430938720703, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.005729623967103604, "step_quality_min": -0.6526786488865481, "step_quality_max": 0.538653482529677, "alignment_signed_mean": -0.7769765574232572, "alignment_abs_mean": 0.7769765574232572, "alignment_min": -0.9481111377766291, "alignment_max": -0.40124171210747417, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677443175073272, 0.1330417587774086, 1.0409299099787135, 0.15529515493574417, 0.7455624109666382, 0.6336386551065609, 0.13609614602128056], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1342882104742875, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01065826416015625, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.006768698888883139, "step_quality_min": -0.4660064985702763, "step_quality_max": 0.566084111006184, "alignment_signed_mean": -0.7647356499536797, "alignment_abs_mean": 0.7647356499536797, "alignment_min": -0.8849832836251195, "alignment_max": -0.24973577126302562, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1342988551578583, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.012584209442138672, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.00615954279799543, "step_quality_min": -0.45807021173412077, "step_quality_max": 0.581618235327483, "alignment_signed_mean": -0.7370449744690076, "alignment_abs_mean": 0.7370449744690076, "alignment_min": -0.8878281445741363, "alignment_max": -0.13270548248097952, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774431750732726, 0.1330417587774086, 1.0409299099787135, 0.15529515493574417, 0.7455624109666382, 0.6336386551065609, 0.13609614602128056], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1064850019886379, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.009075164794921875, "door_quality": 0.0105314125149004, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.015044875021286288, "step_quality_min": -0.5457027372387877, "step_quality_max": 0.5438716210463774, "alignment_signed_mean": -0.7462086796150655, "alignment_abs_mean": 0.7462086796150655, "alignment_min": -0.9567557474536087, "alignment_max": -0.2888944891375898, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1064563456837182, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.009520530700683594, "door_quality": 0.010643309518073879, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.015204727882962685, "step_quality_min": -0.7193204639541069, "step_quality_max": 0.5821527381506416, "alignment_signed_mean": -0.7204646984168637, "alignment_abs_mean": 0.7204646984168637, "alignment_min": -0.9462566200695828, "alignment_max": -0.117226650433316, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 97, "state": {"door_angle": 1.571029543876648, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31087175011634827, -0.09519332647323608, 1.1858140230178833, 0.16584646701812744, 0.8910895586013794, 0.4156217575073242, 0.07558412849903107], "right_arm_pose": [0.5508621335029602, 0.03137131780385971, 1.1452714204788208, 0.128264382481575, 0.6952351927757263, 0.6953656077384949, 0.12908507883548737], "left_arm_joint_positions": [-0.27034592628479004, 0.02496197819709778, -0.30959150195121765, -1.9455151557922363, 0.8782063722610474, 1.6853375434875488, 0.45285022258758545], "right_arm_joint_positions": [0.016815662384033203, -0.5076808929443359, -0.1859855353832245, -2.8639698028564453, -1.4902821779251099, 1.347083330154419, -1.6145528554916382], "pregrasp_goal_pose": [0.3877440453872974, 0.13304191917590025, 1.0409303245179298, 0.15529690328628468, 0.7455622097170079, 0.633638904370502, 0.1360940929641424], "pregrasp_position_error": 0.28105508931127904, "pregrasp_orientation_error_deg": 30.944924280404965}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 135, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877440453872974, 0.13304191917590025, 1.0409303245179298, 0.15529690328628468, 0.7455622097170079, 0.633638904370502, 0.1360940929641424], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1191726473736399, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01007699966430664, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.004435759133401133, "step_quality_min": -0.6479677454993179, "step_quality_max": 0.5307331482409822, "alignment_signed_mean": -0.7682658679497751, "alignment_abs_mean": 0.7682658679497751, "alignment_min": -0.9442826356964024, "alignment_max": -0.3777862130233381, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1176452722413728, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.00803828239440918, "door_quality": 0.003769885304754919, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.00538555043536417, "step_quality_min": -0.5400076121618749, "step_quality_max": 0.56215881742724, "alignment_signed_mean": -0.7572483082913002, "alignment_abs_mean": 0.7572483082913002, "alignment_min": -0.9109507552987512, "alignment_max": -0.2808063309546206, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677440453872974, 0.13304191917590025, 1.0409303245179298, 0.15529690328628468, 0.7455622097170079, 0.633638904370502, 0.1360940929641424], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1343978638919638, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.010488033294677734, "door_quality": 0.0013834955192770725, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.001976422170395818, "step_quality_min": -0.46956632850440827, "step_quality_max": 0.5693571064033175, "alignment_signed_mean": -0.7660943864456439, "alignment_abs_mean": 0.7660943864456439, "alignment_min": -0.8847057978615037, "alignment_max": -0.23217870138184984, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1344010042759314, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.009609699249267578, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.004033777854904128, "step_quality_min": -0.41181501268814275, "step_quality_max": 0.5592223726461941, "alignment_signed_mean": -0.7734089745423054, "alignment_abs_mean": 0.7734089745423054, "alignment_min": -0.884846284346924, "alignment_max": -0.2741024083144402, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077440453872974, 0.13304191917590025, 1.0409303245179298, 0.15529690328628468, 0.7455622097170079, 0.633638904370502, 0.1360940929641424], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1064100030146398, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.009143829345703125, "door_quality": 0.012545841028561806, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.017922630040802582, "step_quality_min": -0.5825593073357613, "step_quality_max": 0.5456919737137544, "alignment_signed_mean": -0.728066589639845, "alignment_abs_mean": 0.728066589639845, "alignment_min": -0.9476889960814127, "alignment_max": -0.2690329462577065, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1066145891100172, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.009017705917358398, "door_quality": 0.007088434971213192, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.010126335673161704, "step_quality_min": -0.5938805037020977, "step_quality_max": 0.5920086787049289, "alignment_signed_mean": -0.7226796896579083, "alignment_abs_mean": 0.7226796896579083, "alignment_min": -0.9471989099871913, "alignment_max": -0.08518461093092206, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 98, "state": {"door_angle": 1.5708369016647339, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31086310744285583, -0.095187708735466, 1.1858640909194946, 0.16580823063850403, 0.891083836555481, 0.41564229130744934, 0.07562212646007538], "right_arm_pose": [0.5508890748023987, 0.031434908509254456, 1.1452971696853638, 0.12827377021312714, 0.6952182650566101, 0.6953825354576111, 0.1290763020515442], "left_arm_joint_positions": [-0.27033066749572754, 0.02496698498725891, -0.3095690906047821, -1.9456367492675781, 0.8782893419265747, 1.6853723526000977, 0.45283043384552], "right_arm_joint_positions": [0.016731739044189453, -0.5077331066131592, -0.18608614802360535, -2.863994598388672, -1.4904714822769165, 1.3471753597259521, -1.6145890951156616], "pregrasp_goal_pose": [0.38774379771822687, 0.13304210850012524, 1.0409297656631291, 0.15529807943857532, 0.7455589129732213, 0.6336427868802509, 0.13609273471977654], "pregrasp_position_error": 0.2810790789975783, "pregrasp_orientation_error_deg": 30.942012880202377}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 135, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774379771822687, 0.13304210850012524, 1.0409297656631291, 0.15529807943857532, 0.7455589129732213, 0.6336427868802509, 0.13609273471977654], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1191753840394671, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.010490179061889648, "door_quality": 0.0009180253253901953, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.001311464750557422, "step_quality_min": -0.6418586546616649, "step_quality_max": 0.5261564515991196, "alignment_signed_mean": -0.7580074425259103, "alignment_abs_mean": 0.7580074425259103, "alignment_min": -0.9236177662000007, "alignment_max": -0.40834223083496857, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1177016073702724, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.009590625762939453, "door_quality": 0.0018644956898444115, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0026635652712063023, "step_quality_min": -0.5839939570064532, "step_quality_max": 0.5424657129205167, "alignment_signed_mean": -0.7594072827291307, "alignment_abs_mean": 0.7594072827291307, "alignment_min": -0.9294520671264771, "alignment_max": -0.3453954871091002, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774379771822685, 0.13304210850012524, 1.0409297656631291, 0.15529807943857532, 0.7455589129732213, 0.6336427868802509, 0.13609273471977654], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.13436362218549, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01105952262878418, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.005048032143357699, "step_quality_min": -0.47839538380727653, "step_quality_max": 0.5210543800632937, "alignment_signed_mean": -0.7839744304726857, "alignment_abs_mean": 0.7839744304726857, "alignment_min": -0.8867699570146663, "alignment_max": -0.4437231176889027, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.134405410922224, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.010491132736206055, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.0011020835223649447, "step_quality_min": -0.355489162539452, "step_quality_max": 0.5680192784840248, "alignment_signed_mean": -0.7744042534890236, "alignment_abs_mean": 0.7744042534890236, "alignment_min": -0.8913625857782109, "alignment_max": -0.27298553964774736, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077437977182269, 0.13304210850012524, 1.0409297656631291, 0.15529807943857532, 0.7455589129732213, 0.6336427868802509, 0.13609273471977654], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1065708324012211, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.009493112564086914, "door_quality": 0.007316686076995601, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.010452408681422288, "step_quality_min": -0.6937403550955852, "step_quality_max": 0.5291118261721425, "alignment_signed_mean": -0.7547082176422855, "alignment_abs_mean": 0.7547082176422855, "alignment_min": -0.9679263671736975, "alignment_max": -0.3708406153001686, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1065803707258364, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.00860738754272461, "door_quality": 0.011213471151055308, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.016019244501507584, "step_quality_min": -0.5774460412250758, "step_quality_max": 0.5607687650639437, "alignment_signed_mean": -0.7215216055128846, "alignment_abs_mean": 0.7215216055128846, "alignment_min": -0.9601963365272257, "alignment_max": -0.27061429693369865, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 99, "state": {"door_angle": 1.570611834526062, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109162449836731, -0.09503256529569626, 1.1863415241241455, 0.1655387580394745, 0.8910974860191345, 0.41567349433898926, 0.07587988674640656], "right_arm_pose": [0.5508894920349121, 0.031345486640930176, 1.145344614982605, 0.12815238535404205, 0.6942643523216248, 0.6963244676589966, 0.1292526125907898], "left_arm_joint_positions": [-0.27019476890563965, 0.024429351091384888, -0.309418648481369, -1.9449117183685303, 0.8783906698226929, 1.6851105690002441, 0.45297229290008545], "right_arm_joint_positions": [0.016686439514160156, -0.5059370994567871, -0.18522974848747253, -2.864278793334961, -1.491251826286316, 1.3454511165618896, -1.612932562828064], "pregrasp_goal_pose": [0.3877443040931273, 0.13304187521455524, 1.0409302123267423, 0.15529577488794383, 0.7455626843064631, 0.6336383384430699, 0.13609541552455023], "pregrasp_position_error": 0.2811849047855017, "pregrasp_orientation_error_deg": 30.93148682108446}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 133, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877443040931273, 0.13304187521455524, 1.0409302123267423, 0.15529577488794383, 0.7455626843064631, 0.6336383384430699, 0.13609541552455023], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1195060692286938, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.009459972381591797, "door_quality": 0.0003557617774259308, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0005082311106084726, "step_quality_min": -0.6140848380600593, "step_quality_max": 0.5447874832983876, "alignment_signed_mean": -0.7443930595292073, "alignment_abs_mean": 0.7443930595292073, "alignment_min": -0.9489580919706679, "alignment_max": -0.2999521251340383, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1179488091436365, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.010577678680419922, "door_quality": 0.002835812792964487, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.00405116113280641, "step_quality_min": -0.6812725218455433, "step_quality_max": 0.538107556262807, "alignment_signed_mean": -0.7596354005113155, "alignment_abs_mean": 0.7596354005113155, "alignment_min": -0.9289657583558382, "alignment_max": -0.33881154577336714, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677443040931273, 0.13304187521455524, 1.0409302123267423, 0.15529577488794383, 0.7455626843064631, 0.6336383384430699, 0.13609541552455023], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1347419285208793, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01045083999633789, "door_quality": 0.00034732016784878026, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0004961716683554004, "step_quality_min": -0.40863299427418476, "step_quality_max": 0.5689187909154798, "alignment_signed_mean": -0.7642314888926139, "alignment_abs_mean": 0.7642314888926139, "alignment_min": -0.8882807929805857, "alignment_max": -0.20376362794513952, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1346658172618702, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.011495351791381836, "door_quality": 0.0009230309653044694, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0013186156647206706, "step_quality_min": -0.3964063229869499, "step_quality_max": 0.5674682899009297, "alignment_signed_mean": -0.7602282491480302, "alignment_abs_mean": 0.7602282491480302, "alignment_min": -0.8887124547386839, "alignment_max": -0.19856438850804664, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774430409312734, 0.13304187521455524, 1.0409302123267423, 0.15529577488794383, 0.7455626843064631, 0.6336383384430699, 0.13609541552455023], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1068846030558452, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.009595394134521484, "door_quality": 0.011906289619635264, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.01700898517090752, "step_quality_min": -0.6463565095186892, "step_quality_max": 0.5766572508428405, "alignment_signed_mean": -0.7118145603401903, "alignment_abs_mean": 0.7118145603401903, "alignment_min": -0.9580483334747927, "alignment_max": -0.13829062719448804, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1068852963833828, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.010390281677246094, "door_quality": 0.006061989840328962, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.008659985486184232, "step_quality_min": -0.6717808665528937, "step_quality_max": 0.5538179643915242, "alignment_signed_mean": -0.7246443103966926, "alignment_abs_mean": 0.7246443103966926, "alignment_min": -0.9642430286910616, "alignment_max": -0.30348479352089397, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 100, "state": {"door_angle": 1.5682398080825806, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.310951828956604, -0.09500549733638763, 1.1865973472595215, 0.16542738676071167, 0.8911065459251404, 0.4156675338745117, 0.0760488361120224], "right_arm_pose": [0.5506911873817444, 0.03086598962545395, 1.1452975273132324, 0.12760785222053528, 0.6911124587059021, 0.6994548439979553, 0.12977978587150574], "left_arm_joint_positions": [-0.27017760276794434, 0.024281054735183716, -0.30942580103874207, -1.9445202350616455, 0.8784033060073853, 1.6850955486297607, 0.452997088432312], "right_arm_joint_positions": [0.016677379608154297, -0.49978089332580566, -0.18222710490226746, -2.865128517150879, -1.49351966381073, 1.339716911315918, -1.6073933839797974], "pregrasp_goal_pose": [0.3877440858168017, 0.13304163144487802, 1.0409290318065045, 0.155295054901808, 0.7455612922335413, 0.6336399689734757, 0.1360962716807076], "pregrasp_position_error": 0.2812859786515876, "pregrasp_orientation_error_deg": 30.928023394835403}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 132, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877440858168017, 0.13304163144487802, 1.0409290318065045, 0.155295054901808, 0.7455612922335413, 0.6336399689734757, 0.1360962716807076], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1197041669878955, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.015089988708496094, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -2.1901901297265753e-05, "step_quality_min": -0.652192279949469, "step_quality_max": 0.5745461653933394, "alignment_signed_mean": -0.7304474312223169, "alignment_abs_mean": 0.7304474312223169, "alignment_min": -0.9321336129682867, "alignment_max": -0.15560555826716038, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1182201164422954, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.012661457061767578, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.0022130144399562395, "step_quality_min": -0.786735949562412, "step_quality_max": 0.5371895790146107, "alignment_signed_mean": -0.7686577076304589, "alignment_abs_mean": 0.7686577076304589, "alignment_min": -0.941429974815026, "alignment_max": -0.2971839904555107, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677440858168017, 0.13304163144487802, 1.0409290318065045, 0.155295054901808, 0.7455612922335413, 0.6336399689734757, 0.1360962716807076], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134890890604467, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.014050722122192383, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.003243352536841473, "step_quality_min": -0.47393853217879545, "step_quality_max": 0.5822377083181073, "alignment_signed_mean": -0.7488732663524692, "alignment_abs_mean": 0.7488732663524692, "alignment_min": -0.8895614781653292, "alignment_max": -0.10650211697879848, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1349216736141967, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.011021614074707031, "door_quality": 0.0020602265970202705, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.002943180852886101, "step_quality_min": -0.3740883272620778, "step_quality_max": 0.5467555601112561, "alignment_signed_mean": -0.7810222944467964, "alignment_abs_mean": 0.7810222944467964, "alignment_min": -0.8859004616779995, "alignment_max": -0.3353635873831719, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077440858168017, 0.13304163144487802, 1.0409290318065045, 0.155295054901808, 0.7455612922335413, 0.6336399689734757, 0.1360962716807076], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070020797087796, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.011352062225341797, "door_quality": 0.010507696182026795, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.015010994545752566, "step_quality_min": -0.6576055039561537, "step_quality_max": 0.573257232824824, "alignment_signed_mean": -0.7298003788631238, "alignment_abs_mean": 0.7298003788631238, "alignment_min": -0.9600472364665122, "alignment_max": -0.1290646735833993, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1070175207641197, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01146554946899414, "door_quality": 0.0009920410513361427, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0014172015019087753, "step_quality_min": -0.5898865227481246, "step_quality_max": 0.5765955631089131, "alignment_signed_mean": -0.7434246405903854, "alignment_abs_mean": 0.7434246405903854, "alignment_min": -0.9442452288367367, "alignment_max": -0.21978059204820813, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 101, "state": {"door_angle": 1.5642975568771362, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3109671473503113, -0.0949692353606224, 1.1866282224655151, 0.16538867354393005, 0.89110267162323, 0.41568508744239807, 0.07608252763748169], "right_arm_pose": [0.5503087639808655, 0.029859311878681183, 1.145224690437317, 0.1265845149755478, 0.6852611899375916, 0.7051897048950195, 0.13077083230018616], "left_arm_joint_positions": [-0.2701416015625, 0.024137049913406372, -0.3093964755535126, -1.9446589946746826, 0.8784312009811401, 1.6850905418395996, 0.45301616191864014], "right_arm_joint_positions": [0.01666545867919922, -0.48834824562072754, -0.1767847239971161, -2.866626262664795, -1.4974108934402466, 1.3290624618530273, -1.597253680229187], "pregrasp_goal_pose": [0.38774841868837145, 0.13303764814295022, 1.0409298124387059, 0.15529588960155075, 0.7455617087995353, 0.6336394855791536, 0.1360952877941249], "pregrasp_position_error": 0.28126594041518926, "pregrasp_orientation_error_deg": 30.924998713871627}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 129, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774841868837145, 0.13303764814295022, 1.0409298124387059, 0.15529588960155075, 0.7455617087995353, 0.6336394855791536, 0.1360952877941249], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196505888798112, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01461482048034668, "door_quality": 0.0054197894248482386, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.007742556321211769, "step_quality_min": -0.6597141011071597, "step_quality_max": 0.5544821644902744, "alignment_signed_mean": -0.764246475716678, "alignment_abs_mean": 0.764246475716678, "alignment_min": -0.9410480466876334, "alignment_max": -0.2760596746799747, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.118212837663687, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.015302419662475586, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.005259029547874633, "step_quality_min": -0.6834266446340136, "step_quality_max": 0.5452892829227659, "alignment_signed_mean": -0.756243490436382, "alignment_abs_mean": 0.756243490436382, "alignment_min": -0.9482096871833892, "alignment_max": -0.331799244260683, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774841868837144, 0.13303764814295022, 1.0409298124387059, 0.15529588960155075, 0.7455617087995353, 0.6336394855791536, 0.1360952877941249], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134839937756724, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01583576202392578, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.0042177586058253225, "step_quality_min": -0.4902056378287921, "step_quality_max": 0.5593958177974013, "alignment_signed_mean": -0.7649410481090586, "alignment_abs_mean": 0.7649410481090586, "alignment_min": -0.8880259632278145, "alignment_max": -0.2749756381858446, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.134774555119871, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.016514062881469727, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.008340080728753797, "step_quality_min": -0.4967185461263686, "step_quality_max": 0.5326324304307233, "alignment_signed_mean": -0.7813306652625358, "alignment_abs_mean": 0.7813306652625358, "alignment_min": -0.8892610475005807, "alignment_max": -0.4065275985177702, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077484186883715, 0.13303764814295022, 1.0409298124387059, 0.15529588960155075, 0.7455617087995353, 0.6336394855791536, 0.1360952877941249], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.107002209956421, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.014119863510131836, "door_quality": 0.008341159793194582, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.011915942561706546, "step_quality_min": -0.6495480319421059, "step_quality_max": 0.5536355985434507, "alignment_signed_mean": -0.7234454040855753, "alignment_abs_mean": 0.7234454040855753, "alignment_min": -0.9591617474007087, "alignment_max": -0.28298663435794186, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1069449454156548, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.015780925750732422, "door_quality": 0.004557234817653562, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.006510335453790804, "step_quality_min": -0.6531119414192086, "step_quality_max": 0.5523354893825014, "alignment_signed_mean": -0.7496138715769756, "alignment_abs_mean": 0.7496138715769756, "alignment_min": -0.9603777606466626, "alignment_max": -0.33070975248934736, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 102, "state": {"door_angle": 1.557737946510315, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.3109467327594757, -0.09495159983634949, 1.1866891384124756, 0.1653631180524826, 0.8911037445068359, 0.4156881272792816, 0.076109379529953], "right_arm_pose": [0.549734354019165, 0.028371915221214294, 1.1450568437576294, 0.12503553926944733, 0.6764815449714661, 0.7136196494102478, 0.13223449885845184], "left_arm_joint_positions": [-0.2701261043548584, 0.024183303117752075, -0.30937835574150085, -1.9446780681610107, 0.8784192800521851, 1.6850717067718506, 0.45303118228912354], "right_arm_joint_positions": [0.01664900779724121, -0.4711270332336426, -0.16894599795341492, -2.8685507774353027, -1.5029791593551636, 1.3131020069122314, -1.582328200340271], "pregrasp_goal_pose": [0.387748402056797, 0.13303789495145504, 1.0409303535364178, 0.15529631655854692, 0.7455636384307813, 0.6336372212284291, 0.13609477207856838], "pregrasp_position_error": 0.28128869424311803, "pregrasp_orientation_error_deg": 30.923629295575413}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 127, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.387748402056797, 0.13303789495145504, 1.0409303535364178, 0.15529631655854692, 0.7455636384307813, 0.6336372212284291, 0.13609477207856838], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196915316968263, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021587848663330078, "door_quality": 0.010252295512887668, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.014646136446982384, "step_quality_min": -0.7007540946153971, "step_quality_max": 0.5981666482540829, "alignment_signed_mean": -0.7307623857499634, "alignment_abs_mean": 0.7307623857499634, "alignment_min": -0.9116109533002746, "alignment_max": -0.032197993470796056, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1182183953894542, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021032094955444336, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.010080155651323641, "step_quality_min": -0.6852083853840508, "step_quality_max": 0.5336664809947014, "alignment_signed_mean": -0.7403150158684776, "alignment_abs_mean": 0.7403150158684776, "alignment_min": -0.9074180828938655, "alignment_max": -0.3634021466889108, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.367748402056797, 0.13303789495145504, 1.0409303535364178, 0.15529631655854692, 0.7455636384307813, 0.6336372212284291, 0.13609477207856838], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348567684036923, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022033214569091797, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.006484105898640269, "step_quality_min": -0.7812754150350804, "step_quality_max": 0.5513992091667863, "alignment_signed_mean": -0.7654176858597408, "alignment_abs_mean": 0.7654176858597408, "alignment_min": -0.8859125486946683, "alignment_max": -0.30208407806743465, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1348689404983596, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02089667320251465, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.0074119956004140685, "step_quality_min": -0.7664685726963064, "step_quality_max": 0.5444673486583281, "alignment_signed_mean": -0.7590842867393134, "alignment_abs_mean": 0.7590842867393134, "alignment_min": -0.8805457392273951, "alignment_max": -0.3303060789739837, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.407748402056797, 0.13303789495145504, 1.0409303535364178, 0.15529631655854692, 0.7455636384307813, 0.6336372212284291, 0.13609477207856838], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1069762440593096, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020279884338378906, "door_quality": 0.006512368277473401, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.00930338325353343, "step_quality_min": -0.9268781378635313, "step_quality_max": 0.5374897650006427, "alignment_signed_mean": -0.7240877867957513, "alignment_abs_mean": 0.7240877867957513, "alignment_min": -0.9585433315651793, "alignment_max": -0.3259181736424631, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.107045704225012, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02073812484741211, "door_quality": 0.0042255159728946026, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.006036451389849433, "step_quality_min": -0.9332569538444376, "step_quality_max": 0.5514830318997423, "alignment_signed_mean": -0.7015576732640554, "alignment_abs_mean": 0.7015576732640554, "alignment_min": -0.9589722185604899, "alignment_max": -0.2758433196147256, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 103, "state": {"door_angle": 1.5494836568832397, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109527826309204, -0.09496606886386871, 1.1866353750228882, 0.16538794338703156, 0.8911022543907166, 0.41568997502326965, 0.07606223970651627], "right_arm_pose": [0.5489243865013123, 0.02643408626317978, 1.1448968648910522, 0.12296795845031738, 0.6646360158920288, 0.724675178527832, 0.13410353660583496], "left_arm_joint_positions": [-0.2701284885406494, 0.02416279911994934, -0.30937501788139343, -1.9446640014648438, 0.8784304857254028, 1.6850535869598389, 0.45306384563446045], "right_arm_joint_positions": [0.01663994789123535, -0.4479379653930664, -0.1589941680431366, -2.8706274032592773, -1.509987711906433, 1.2914066314697266, -1.5627418756484985], "pregrasp_goal_pose": [0.387745113922273, 0.13304209317451593, 1.0409310481228602, 0.15530056626384103, 0.74556022169708, 0.633641267190096, 0.13608980290551057], "pregrasp_position_error": 0.28127306123884904, "pregrasp_orientation_error_deg": 30.925133173572185}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 126, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.387745113922273, 0.13304209317451593, 1.0409310481228602, 0.15530056626384103, 0.74556022169708, 0.633641267190096, 0.13608980290551057], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196700969785067, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.03021526336669922, "door_quality": 0.002546109360201598, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.003637299086002283, "step_quality_min": -0.872292196949979, "step_quality_max": 0.5490509788021011, "alignment_signed_mean": -0.7154225953632645, "alignment_abs_mean": 0.7154225953632645, "alignment_min": -0.9192132933071713, "alignment_max": -0.2957133984331425, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1181521987692224, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.030127525329589844, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.025154780189970312, "step_quality_min": -0.8437514404568712, "step_quality_max": 0.5357050155728749, "alignment_signed_mean": -0.7461665080091752, "alignment_abs_mean": 0.7461665080091752, "alignment_min": -0.9415730940448943, "alignment_max": -0.3557356719525197, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.367745113922273, 0.13304209317451593, 1.0409310481228602, 0.15530056626384103, 0.74556022169708, 0.633641267190096, 0.13608980290551057], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348654347429032, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.029143810272216797, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.015301312230884665, "step_quality_min": -1.0684010179245509, "step_quality_max": 0.5432397050106379, "alignment_signed_mean": -0.7501263652421227, "alignment_abs_mean": 0.7501263652421227, "alignment_min": -0.885410711022926, "alignment_max": -0.32566777743704434, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1348863135475282, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02999711036682129, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.03501834667455419, "step_quality_min": -1.0679108880398527, "step_quality_max": 0.530496952660725, "alignment_signed_mean": -0.7668874107382188, "alignment_abs_mean": 0.7668874107382188, "alignment_min": -0.8839067770551087, "alignment_max": -0.3815137260762576, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774511392227303, 0.13304209317451593, 1.0409310481228602, 0.15530056626384103, 0.74556022169708, 0.633641267190096, 0.13608980290551057], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070169434959585, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.029476404190063477, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.006634633553092557, "step_quality_min": -1.002005491275579, "step_quality_max": 0.5991057605117405, "alignment_signed_mean": -0.7174371601303341, "alignment_abs_mean": 0.7174371601303341, "alignment_min": -0.9614365099387496, "alignment_max": -0.05236948998280101, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1070531621070712, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.029943466186523438, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.003809568464463053, "step_quality_min": -1.0430676499200504, "step_quality_max": 0.5357967813511461, "alignment_signed_mean": -0.7297498301982251, "alignment_abs_mean": 0.7297498301982251, "alignment_min": -0.9591843341394625, "alignment_max": -0.3101680478951492, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 104, "state": {"door_angle": 1.5402277708053589, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3109624981880188, -0.09495771676301956, 1.1865906715393066, 0.16538532078266144, 0.8911083340644836, 0.4156900644302368, 0.07599706947803497], "right_arm_pose": [0.5481860041618347, 0.024099133908748627, 1.1448379755020142, 0.12058792263269424, 0.6504811644554138, 0.737385630607605, 0.13636478781700134], "left_arm_joint_positions": [-0.27011990547180176, 0.024170905351638794, -0.3093661963939667, -1.944688081741333, 0.8784118890762329, 1.685070514678955, 0.4530602693557739], "right_arm_joint_positions": [0.01655101776123047, -0.42035889625549316, -0.14824292063713074, -2.872457981109619, -1.517651915550232, 1.2651152610778809, -1.5401939153671265], "pregrasp_goal_pose": [0.3877483683680506, 0.13303784573766342, 1.040930404047552, 0.15529867356519192, 0.745560600989307, 0.633640807679251, 0.13609202432524087], "pregrasp_position_error": 0.28123826180851896, "pregrasp_orientation_error_deg": 30.927173807887552}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 123, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877483683680506, 0.13303784573766342, 1.040930404047552, 0.15529867356519192, 0.745560600989307, 0.633640807679251, 0.13609202432524087], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119677064689638, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.03710746765136719, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.006682339002713914, "step_quality_min": -1.0639582925036075, "step_quality_max": 0.5398439060553106, "alignment_signed_mean": -0.726385767526464, "alignment_abs_mean": 0.726385767526464, "alignment_min": -0.9417615801463788, "alignment_max": -0.3325139826018649, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1181403077312086, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.03922724723815918, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.023786996384861474, "step_quality_min": -1.085484518889029, "step_quality_max": 0.5678547911359362, "alignment_signed_mean": -0.7197663976178331, "alignment_abs_mean": 0.7197663976178331, "alignment_min": -0.9320077011104717, "alignment_max": -0.20838591828272102, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677483683680506, 0.13303784573766342, 1.040930404047552, 0.15529867356519192, 0.745560600989307, 0.633640807679251, 0.13609202432524087], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134892932969462, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.040023088455200195, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.01781336118430057, "step_quality_min": -1.0565834579195246, "step_quality_max": 0.5551327339447594, "alignment_signed_mean": -0.6883305036738799, "alignment_abs_mean": 0.6883305036738799, "alignment_min": -0.8850070038548896, "alignment_max": -0.2586751917524288, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1349087698783107, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.039015769958496094, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.03268483402522924, "step_quality_min": -1.0541047773325949, "step_quality_max": 0.5150555418980777, "alignment_signed_mean": -0.74574953169371, "alignment_abs_mean": 0.74574953169371, "alignment_min": -0.8912641435313666, "alignment_max": -0.4150132131713738, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077483683680506, 0.13303784573766342, 1.040930404047552, 0.15529867356519192, 0.745560600989307, 0.633640807679251, 0.13609202432524087], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070689564224907, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.03954505920410156, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.022043944846358052, "step_quality_min": -1.0649961634589302, "step_quality_max": 0.6049809793788872, "alignment_signed_mean": -0.628726919610292, "alignment_abs_mean": 0.6336606217630836, "alignment_min": -0.928720125269719, "alignment_max": 0.050382297407744484, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1070431447862872, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.03882336616516113, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.017811431119781746, "step_quality_min": -1.0644264021702072, "step_quality_max": 0.5421041466296825, "alignment_signed_mean": -0.6697128134548076, "alignment_abs_mean": 0.6697128134548076, "alignment_min": -0.945660699138928, "alignment_max": -0.2497229687864017, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 105, "state": {"door_angle": 1.530852198600769, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.3109573423862457, -0.09496764838695526, 1.1866650581359863, 0.16538062691688538, 0.8911040425300598, 0.41568508744239807, 0.07608380913734436], "right_arm_pose": [0.5472890138626099, 0.021805226802825928, 1.1447957754135132, 0.1180245503783226, 0.6348865628242493, 0.7508146166801453, 0.13880479335784912], "left_arm_joint_positions": [-0.27013158798217773, 0.024136334657669067, -0.3093988597393036, -1.9446899890899658, 0.8784404993057251, 1.6850786209106445, 0.45305097103118896], "right_arm_joint_positions": [0.016377925872802734, -0.3908054828643799, -0.1374349296092987, -2.873785972595215, -1.5261768102645874, 1.235342025756836, -1.5169185400009155], "pregrasp_goal_pose": [0.38774398995977066, 0.1330420483816571, 1.0409313833464353, 0.15529922377612806, 0.7455644641767903, 0.6336362721427133, 0.13609134974858997], "pregrasp_position_error": 0.2812879574986492, "pregrasp_orientation_error_deg": 30.924427281855777}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 114, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774398995977066, 0.1330420483816571, 1.0409313833464353, 0.15529922377612806, 0.7455644641767903, 0.6336362721427133, 0.13609134974858997], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1197069166960232, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.04727482795715332, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.013258029329262991, "step_quality_min": -1.0712774938008234, "step_quality_max": 0.5572118237352565, "alignment_signed_mean": -0.7110302097259691, "alignment_abs_mean": 0.7110302097259691, "alignment_min": -0.9369916713052324, "alignment_max": -0.2716620193242068, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1181690725847169, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.05150032043457031, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.023270582709253203, "step_quality_min": -1.0845614918511428, "step_quality_max": 0.5669374901912605, "alignment_signed_mean": -0.7406693210986834, "alignment_abs_mean": 0.7406693210986834, "alignment_min": -0.9133782890483972, "alignment_max": -0.2622719672399234, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774398995977065, 0.1330420483816571, 1.0409313833464353, 0.15529922377612806, 0.7455644641767903, 0.6336362721427133, 0.13609134974858997], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348979189257613, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.05112600326538086, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.041952003101206614, "step_quality_min": -1.0817367269596834, "step_quality_max": 0.5574394137036149, "alignment_signed_mean": -0.7424148617367374, "alignment_abs_mean": 0.7424148617367374, "alignment_min": -0.8905792822125216, "alignment_max": -0.3117227999511634, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1349094200679448, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.05023384094238281, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.04035783813803484, "step_quality_min": -1.0877819765694805, "step_quality_max": 0.5720010562437388, "alignment_signed_mean": -0.7589763091847292, "alignment_abs_mean": 0.7589763091847292, "alignment_min": -0.8886983936664303, "alignment_max": -0.27222166275103393, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077439899597707, 0.1330420483816571, 1.0409313833464353, 0.15529922377612806, 0.7455644641767903, 0.6336362721427133, 0.13609134974858997], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.107109492937626, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.05019831657409668, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.024001957904970696, "step_quality_min": -1.0842295843002312, "step_quality_max": 0.5219794038751034, "alignment_signed_mean": -0.7304933288537055, "alignment_abs_mean": 0.7304933288537055, "alignment_min": -0.9418947680572172, "alignment_max": -0.32310735989694267, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1071165660056939, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.05004596710205078, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.023975376840595218, "step_quality_min": -1.0874373059402764, "step_quality_max": 0.5388013292947177, "alignment_signed_mean": -0.7065132983475744, "alignment_abs_mean": 0.7065132983475744, "alignment_min": -0.9524423411946787, "alignment_max": -0.33481815973979107, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 106, "state": {"door_angle": 1.5222967863082886, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109476864337921, -0.09497096389532089, 1.1866824626922607, 0.16536682844161987, 0.8911069631576538, 0.4156835377216339, 0.0760887935757637], "right_arm_pose": [0.5465828776359558, 0.01945941150188446, 1.1446831226348877, 0.11538481712341309, 0.6192615628242493, 0.7637037634849548, 0.1412729024887085], "left_arm_joint_positions": [-0.27011752128601074, 0.024073868989944458, -0.3093559443950653, -1.9446816444396973, 0.8784199953079224, 1.685075283050537, 0.4530423879623413], "right_arm_joint_positions": [0.016216516494750977, -0.36036062240600586, -0.12743422389030457, -2.874558925628662, -1.5322169065475464, 1.2061758041381836, -1.4936717748641968], "pregrasp_goal_pose": [0.3877440337241704, 0.13304180886254824, 1.0409309342846567, 0.15529725013165818, 0.7455633423252156, 0.6336375759988689, 0.13609367716641302], "pregrasp_position_error": 0.28130234896109324, "pregrasp_orientation_error_deg": 30.924826883066768}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 106, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877440337241704, 0.13304180886254824, 1.0409309342846567, 0.15529725013165818, 0.7455633423252156, 0.6336375759988689, 0.13609367716641302], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1197623219698494, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.05652880668640137, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.0200686998350141, "step_quality_min": -1.0529465587051634, "step_quality_max": 0.5459862158043532, "alignment_signed_mean": -0.7461543951341864, "alignment_abs_mean": 0.7461543951341864, "alignment_min": -0.937086150250272, "alignment_max": -0.33468035591475775, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.118201519832033, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.06130647659301758, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.03648561473461095, "step_quality_min": -1.1067141811585632, "step_quality_max": 0.5868279281126026, "alignment_signed_mean": -0.7255259553230096, "alignment_abs_mean": 0.7255259553230096, "alignment_min": -0.9097139163970522, "alignment_max": -0.13080558038425272, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774403372417036, 0.13304180886254824, 1.0409309342846567, 0.15529725013165818, 0.7455633423252156, 0.6336375759988689, 0.13609367716641302], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.13494395684926, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.06174588203430176, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.058286183720435744, "step_quality_min": -1.0956553830954112, "step_quality_max": 0.543458929379554, "alignment_signed_mean": -0.7606485272379738, "alignment_abs_mean": 0.7606485272379738, "alignment_min": -0.8855435458061724, "alignment_max": -0.3259067996354331, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1349727127215579, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.06178164482116699, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.055759365566846596, "step_quality_min": -1.100716936848311, "step_quality_max": 0.5728618073391379, "alignment_signed_mean": -0.7541320659908402, "alignment_abs_mean": 0.7541320659908402, "alignment_min": -0.8851891882436717, "alignment_max": -0.2639363170030407, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077440337241704, 0.13304180886254824, 1.0409309342846567, 0.15529725013165818, 0.7455633423252156, 0.6336375759988689, 0.13609367716641302], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.107120371458318, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.05997157096862793, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.03126066486552543, "step_quality_min": -1.0839558900468003, "step_quality_max": 0.5479444330741173, "alignment_signed_mean": -0.7183603227057409, "alignment_abs_mean": 0.7183603227057409, "alignment_min": -0.9335004356876672, "alignment_max": -0.2818070323222852, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.107112696649712, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.05939054489135742, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.026806219246465736, "step_quality_min": -1.0774178533303975, "step_quality_max": 0.545854157904389, "alignment_signed_mean": -0.7287230435831914, "alignment_abs_mean": 0.7287230435831914, "alignment_min": -0.9362363792221927, "alignment_max": -0.30255132617635, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 107, "state": {"door_angle": 1.5089458227157593, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31094294786453247, -0.09496240317821503, 1.1865960359573364, 0.16539499163627625, 0.8910996913909912, 0.4156976640224457, 0.07603476941585541], "right_arm_pose": [0.5452884435653687, 0.016030147671699524, 1.1445355415344238, 0.11333593726158142, 0.6042672991752625, 0.7754673957824707, 0.14375773072242737], "left_arm_joint_positions": [-0.2701268196105957, 0.024297744035720825, -0.30937525629997253, -1.9447300434112549, 0.8784142732620239, 1.6850578784942627, 0.45303118228912354], "right_arm_joint_positions": [0.019106388092041016, -0.3301527500152588, -0.11635085940361023, -2.8728818893432617, -1.532108187675476, 1.174959421157837, -1.4718598127365112], "pregrasp_goal_pose": [0.3877482907038464, 0.1330371184635038, 1.0409284374155618, 0.1552976233128608, 0.7455557045344936, 0.633646553670316, 0.13609329392436234], "pregrasp_position_error": 0.28125058546151466, "pregrasp_orientation_error_deg": 30.92587288334802}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 98, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877482907038464, 0.1330371184635038, 1.0409284374155618, 0.1552976233128608, 0.7455557045344936, 0.633646553670316, 0.13609329392436234], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119616629117632, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.07391500473022461, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.021788142876495387, "step_quality_min": -1.0997635312526683, "step_quality_max": 0.5642374808821393, "alignment_signed_mean": -0.7223068881761195, "alignment_abs_mean": 0.7223068881761195, "alignment_min": -0.9220668371791603, "alignment_max": -0.24335250495209612, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.118042162562881, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0849766731262207, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.06284853284409628, "step_quality_min": -1.1159106837436288, "step_quality_max": 0.5567260728319854, "alignment_signed_mean": -0.7904479736503837, "alignment_abs_mean": 0.7904479736503837, "alignment_min": -0.9129071294912526, "alignment_max": -0.2548265526491546, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677482907038464, 0.1330371184635038, 1.0409284374155618, 0.1552976233128608, 0.7455557045344936, 0.633646553670316, 0.13609329392436234], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1347468515555459, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.08233428001403809, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.06607522818637313, "step_quality_min": -1.1352142945690444, "step_quality_max": 0.5990170565088481, "alignment_signed_mean": -0.7866248145742278, "alignment_abs_mean": 0.7866248145742278, "alignment_min": -0.8831626711637073, "alignment_max": -0.05507798649872794, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.134878920731979, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.08494973182678223, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.07805595661020952, "step_quality_min": -1.1213796107362635, "step_quality_max": 0.5454182349503242, "alignment_signed_mean": -0.7897345112625805, "alignment_abs_mean": 0.7897345112625805, "alignment_min": -0.8893398517294325, "alignment_max": -0.2650186791355643, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774829070384644, 0.1330371184635038, 1.0409284374155618, 0.1552976233128608, 0.7455557045344936, 0.633646553670316, 0.13609329392436234], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1069660001889254, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.08466672897338867, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.06127940502722268, "step_quality_min": -1.1096006332482284, "step_quality_max": 0.5530118251188488, "alignment_signed_mean": -0.7875417383542385, "alignment_abs_mean": 0.7875417383542385, "alignment_min": -0.9329193880122328, "alignment_max": -0.2537401985549056, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1069695224407474, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.08670687675476074, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.06784941476771746, "step_quality_min": -1.1157512403274912, "step_quality_max": 0.5255406363744063, "alignment_signed_mean": -0.774057031614812, "alignment_abs_mean": 0.774057031614812, "alignment_min": -0.9347386850723194, "alignment_max": -0.2960189535567004, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 108, "state": {"door_angle": 1.4856866598129272, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3109637200832367, -0.09496374428272247, 1.1866121292114258, 0.1653868407011032, 0.8911039233207703, 0.41569218039512634, 0.07603352516889572], "right_arm_pose": [0.543194055557251, 0.009995803236961365, 1.1433378458023071, 0.1113995686173439, 0.5934972167015076, 0.7837232947349548, 0.1453578919172287], "left_arm_joint_positions": [-0.27013421058654785, 0.02422526478767395, -0.30937549471855164, -1.9447557926177979, 0.8784462213516235, 1.685060739517212, 0.45305073261260986], "right_arm_joint_positions": [0.02726006507873535, -0.3014063835144043, -0.1026284396648407, -2.868283271789551, -1.519184947013855, 1.1482834815979004, -1.4525750875473022], "pregrasp_goal_pose": [0.3877440552197302, 0.13304224152958305, 1.0409305620625295, 0.1552960610723706, 0.7455638144676731, 0.6336370125030348, 0.1360950710277511], "pregrasp_position_error": 0.2812562327076005, "pregrasp_orientation_error_deg": 30.92529885487391}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 90, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877440552197302, 0.13304224152958305, 1.0409305620625295, 0.1552960610723706, 0.7455638144676731, 0.6336370125030348, 0.1360950710277511], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196791260917056, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.10872936248779297, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.07308432633455757, "step_quality_min": -1.0960163200516784, "step_quality_max": 0.581962099051677, "alignment_signed_mean": -0.7746422855158338, "alignment_abs_mean": 0.7746422855158338, "alignment_min": -0.9121246444582911, "alignment_max": -0.20005278599161555, "door_contact_steps": 27, "path_steps": 28}, {"path_found": true, "path_length": 1.1182028242673843, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.10880923271179199, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.09887835142600575, "step_quality_min": -1.1147650884309537, "step_quality_max": 0.5505777244044414, "alignment_signed_mean": -0.7702305343495198, "alignment_abs_mean": 0.7702305343495198, "alignment_min": -0.8562515462311935, "alignment_max": -0.2612972834343361, "door_contact_steps": 26, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677440552197302, 0.13304224152958305, 1.0409305620625295, 0.1552960610723706, 0.7455638144676731, 0.6336370125030348, 0.1360950710277511], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1349224739062782, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.10777044296264648, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.09119769622630328, "step_quality_min": -1.1009766596631947, "step_quality_max": 0.5659978213982442, "alignment_signed_mean": -0.7716781728840575, "alignment_abs_mean": 0.7716781728840575, "alignment_min": -0.8834239250366869, "alignment_max": -0.1810496732211822, "door_contact_steps": 27, "path_steps": 28}, {"path_found": true, "path_length": 1.1349370877255762, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.10756325721740723, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.09045718168609226, "step_quality_min": -1.095720631417647, "step_quality_max": 0.5486081051605008, "alignment_signed_mean": -0.7718087392602877, "alignment_abs_mean": 0.7718087392602877, "alignment_min": -0.8809505552271982, "alignment_max": -0.26365903627024995, "door_contact_steps": 26, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774405521973023, 0.13304224152958305, 1.0409305620625295, 0.1552960610723706, 0.7455638144676731, 0.6336370125030348, 0.1360950710277511], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070929789524435, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.10250139236450195, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.06497646825705213, "step_quality_min": -1.090457831709359, "step_quality_max": 0.6038881225327628, "alignment_signed_mean": -0.7568841821179023, "alignment_abs_mean": 0.7630666341137782, "alignment_min": -0.9370027350860225, "alignment_max": 0.2516257962321518, "door_contact_steps": 27, "path_steps": 28}, {"path_found": true, "path_length": 1.1070241286762976, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.10872268676757812, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.07648429067364607, "step_quality_min": -1.1015816077103247, "step_quality_max": 0.5635407830884007, "alignment_signed_mean": -0.7724426611927755, "alignment_abs_mean": 0.7724426611927755, "alignment_min": -0.9275875991624664, "alignment_max": -0.25751551480009194, "door_contact_steps": 27, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474817752838135, "final_height": 1.0474817752838135, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474817752838135}], "score": 0.0007335344950358067}}
+{"frame_index": 109, "state": {"door_angle": 1.4597996473312378, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31093525886535645, -0.09495159983634949, 1.1866039037704468, 0.16538943350315094, 0.8911003470420837, 0.415698766708374, 0.07603348046541214], "right_arm_pose": [0.5401580929756165, 0.00310622900724411, 1.141525149345398, 0.10954508930444717, 0.584978461265564, 0.7902309894561768, 0.1460656076669693], "left_arm_joint_positions": [-0.27013492584228516, 0.02415207028388977, -0.30937883257865906, -1.9447216987609863, 0.8784359693527222, 1.6850597858428955, 0.4530571699142456], "right_arm_joint_positions": [0.037153005599975586, -0.27314186096191406, -0.08802005648612976, -2.861319065093994, -1.5017915964126587, 1.124746561050415, -1.4344159364700317], "pregrasp_goal_pose": [0.38774371881324676, 0.13304248840589222, 1.0409318029704757, 0.15530150852518218, 0.7455615372876224, 0.6336397281461882, 0.1360886860908901], "pregrasp_position_error": 0.2812493639894226, "pregrasp_orientation_error_deg": 30.924679325808388}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 87, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774371881324676, 0.13304248840589222, 1.0409318029704757, 0.15530150852518218, 0.7455615372876224, 0.6336397281461882, 0.1360886860908901], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119648739109148, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.13423538208007812, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.07529037868664756, "step_quality_min": -1.1077872205425086, "step_quality_max": 0.5743106692819027, "alignment_signed_mean": -0.7584496987604427, "alignment_abs_mean": 0.7584496987604427, "alignment_min": -0.9096322444804835, "alignment_max": -0.1918421537735921, "door_contact_steps": 27, "path_steps": 28}, {"path_found": true, "path_length": 1.1181097896481633, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.13553404808044434, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.09315020223372264, "step_quality_min": -1.1054220753167656, "step_quality_max": 0.5592058372679818, "alignment_signed_mean": -0.7614111153862579, "alignment_abs_mean": 0.7614111153862579, "alignment_min": -0.8637303204920184, "alignment_max": -0.2126254080814779, "door_contact_steps": 26, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774371881324674, 0.13304248840589222, 1.0409318029704757, 0.15530150852518218, 0.7455615372876224, 0.6336397281461882, 0.1360886860908901], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1349675371909382, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.1328270435333252, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.11665909718947164, "step_quality_min": -1.099802449246005, "step_quality_max": 0.5870148232950831, "alignment_signed_mean": -0.7509232227669818, "alignment_abs_mean": 0.7509232227669818, "alignment_min": -0.848214721528879, "alignment_max": -0.12000057529704555, "door_contact_steps": 25, "path_steps": 28}, {"path_found": true, "path_length": 1.1347458445931784, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.1339731216430664, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.12019897278192476, "step_quality_min": -1.1005535480627748, "step_quality_max": 0.5731279330126543, "alignment_signed_mean": -0.7547165737936198, "alignment_abs_mean": 0.7547165737936198, "alignment_min": -0.8485944905935379, "alignment_max": -0.14384939438497107, "door_contact_steps": 25, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077437188132468, 0.13304248840589222, 1.0409318029704757, 0.15530150852518218, 0.7455615372876224, 0.6336397281461882, 0.1360886860908901], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106973777441819, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.1362898349761963, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.10358517112436354, "step_quality_min": -1.1059034356757973, "step_quality_max": 0.5546758450734863, "alignment_signed_mean": -0.7643067387873714, "alignment_abs_mean": 0.7643067387873714, "alignment_min": -0.9248132958984797, "alignment_max": -0.26617441690551785, "door_contact_steps": 27, "path_steps": 28}, {"path_found": true, "path_length": 1.1070836911963773, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.13511300086975098, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.10258250028098545, "step_quality_min": -1.1132673035801202, "step_quality_max": 0.5414272707192651, "alignment_signed_mean": -0.7514248877008114, "alignment_abs_mean": 0.7514248877008114, "alignment_min": -0.9247937551139012, "alignment_max": -0.27838846697396596, "door_contact_steps": 27, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 110, "state": {"door_angle": 1.4348632097244263, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3109687566757202, -0.09495037794113159, 1.1866276264190674, 0.16536884009838104, 0.8911072015762329, 0.4156860411167145, 0.07606752961874008], "right_arm_pose": [0.5375261902809143, -0.004268161952495575, 1.1398874521255493, 0.10810855031013489, 0.5759512186050415, 0.7967748641967773, 0.1474532186985016], "left_arm_joint_positions": [-0.2701456546783447, 0.02423575520515442, -0.3093535602092743, -1.9446754455566406, 0.8784216642379761, 1.6850626468658447, 0.45301520824432373], "right_arm_joint_positions": [0.04777669906616211, -0.24448060989379883, -0.07341930270195007, -2.8533596992492676, -1.4826902151107788, 1.0991284847259521, -1.416831612586975], "pregrasp_goal_pose": [0.3877440639272238, 0.13304212671728854, 1.0409299670208283, 0.15529599539904473, 0.7455620693617637, 0.6336390626638149, 0.1360951608564626], "pregrasp_position_error": 0.28125226743638493, "pregrasp_orientation_error_deg": 30.92542761201319}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_right", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 83, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.13333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 12, "tray_visibility": 0.015151515151515152, "tray_projected_count": 264, "tray_visible_count": 4}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877440639272238, 0.13304212671728854, 1.0409299670208283, 0.15529599539904473, 0.7455620693617637, 0.6336390626638149, 0.1360951608564626], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196601726668733, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.15439796447753906, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.05858801668411296, "step_quality_min": -1.1151686685709903, "step_quality_max": 0.5844669562820359, "alignment_signed_mean": -0.7316763938636661, "alignment_abs_mean": 0.7316763938636661, "alignment_min": -0.9263158882952706, "alignment_max": -0.09933746743015208, "door_contact_steps": 27, "path_steps": 28}, {"path_found": true, "path_length": 1.1181767850807336, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.16079950332641602, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.106863795396958, "step_quality_min": -1.112979654176985, "step_quality_max": 0.5626721363946943, "alignment_signed_mean": -0.7414696582160505, "alignment_abs_mean": 0.7414696582160505, "alignment_min": -0.8634422859098017, "alignment_max": -0.21720457986734862, "door_contact_steps": 26, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677440639272238, 0.13304212671728854, 1.0409299670208283, 0.15529599539904473, 0.7455620693617637, 0.6336390626638149, 0.1360951608564626], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348341904810715, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.15665888786315918, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.09851986157594655, "step_quality_min": -1.098188592396839, "step_quality_max": 0.5703194867789213, "alignment_signed_mean": -0.7369309698331727, "alignment_abs_mean": 0.7369309698331727, "alignment_min": -0.8475767196826153, "alignment_max": -0.18964898028996388, "door_contact_steps": 26, "path_steps": 28}, {"path_found": true, "path_length": 1.1348753594004632, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.15813183784484863, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.0935626537384592, "step_quality_min": -1.090408045757512, "step_quality_max": 0.5746606431522423, "alignment_signed_mean": -0.7396424209733256, "alignment_abs_mean": 0.7396424209733256, "alignment_min": -0.8844402102117871, "alignment_max": -0.14560337756154215, "door_contact_steps": 27, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774406392722384, 0.13304212671728854, 1.0409299670208283, 0.15529599539904473, 0.7455620693617637, 0.6336390626638149, 0.1360951608564626], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070040192468156, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.15964794158935547, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.08717199420445389, "step_quality_min": -1.1048878839925562, "step_quality_max": 0.5558838253857861, "alignment_signed_mean": -0.7408390591253254, "alignment_abs_mean": 0.7408390591253254, "alignment_min": -0.9213355501836415, "alignment_max": -0.26328164058815956, "door_contact_steps": 27, "path_steps": 28}, {"path_found": true, "path_length": 1.106999094169176, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.16022849082946777, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.08788554955651974, "step_quality_min": -1.1082692383964048, "step_quality_max": 0.5486294222947671, "alignment_signed_mean": -0.7343763141522015, "alignment_abs_mean": 0.7343763141522015, "alignment_min": -0.9254964298682327, "alignment_max": -0.2795161300276079, "door_contact_steps": 27, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 111, "state": {"door_angle": 1.4077814817428589, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3109855055809021, -0.09495194256305695, 1.1865673065185547, 0.165399432182312, 0.8911007642745972, 0.4156992435455322, 0.07600430399179459], "right_arm_pose": [0.534769594669342, -0.011755406856536865, 1.1378073692321777, 0.10626596212387085, 0.5678393840789795, 0.8026280999183655, 0.148506298661232], "left_arm_joint_positions": [-0.2701296806335449, 0.024158984422683716, -0.30937668681144714, -1.9446523189544678, 0.8784507513046265, 1.6850481033325195, 0.4530731439590454], "right_arm_joint_positions": [0.05830717086791992, -0.2155458927154541, -0.05919119715690613, -2.8445205688476562, -1.463027834892273, 1.0759775638580322, -1.3997513055801392], "pregrasp_goal_pose": [0.38774353034991393, 0.13304213392520595, 1.0409302791767625, 0.1552994342449006, 0.7455594249241482, 0.633642195194246, 0.13609113894520886], "pregrasp_position_error": 0.28121741946958057, "pregrasp_orientation_error_deg": 30.925892922858157}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_right", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 80, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.25555555555555554, "grasp_projected_count": 90, "grasp_visible_count": 23, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774353034991393, 0.13304213392520595, 1.0409302791767625, 0.1552994342449006, 0.7455594249241482, 0.633642195194246, 0.13609113894520886], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119627419074935, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.16280031204223633, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.2778361884428637, "step_quality_min": -1.4478774399568712, "step_quality_max": 0.6000138596727208, "alignment_signed_mean": -0.7233834140886514, "alignment_abs_mean": 0.830511836420078, "alignment_min": -0.9963862114884381, "alignment_max": 0.9963862114884381, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1182082108142979, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.1632535457611084, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.247032866268994, "step_quality_min": -1.3822964833547047, "step_quality_max": 0.38861812347132796, "alignment_signed_mean": -0.7285123182902637, "alignment_abs_mean": 0.8331726777555861, "alignment_min": -0.9979274410346928, "alignment_max": 0.7467901631597271, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677435303499139, 0.13304213392520595, 1.0409302791767625, 0.1552994342449006, 0.7455594249241482, 0.633642195194246, 0.13609113894520886], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348938668161093, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.16555356979370117, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.20827880897884662, "step_quality_min": -1.3874207136686707, "step_quality_max": 0.6209971234005539, "alignment_signed_mean": -0.756060070935029, "alignment_abs_mean": 0.8201044027501005, "alignment_min": -0.9987820541081313, "alignment_max": 0.7719845988211204, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1348584095384684, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.1681368350982666, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.22010977534889628, "step_quality_min": -1.3988200469069303, "step_quality_max": 0.4001178324057996, "alignment_signed_mean": -0.7553386088013502, "alignment_abs_mean": 0.8303852855266347, "alignment_min": -0.9994033945035041, "alignment_max": 0.7878425495433384, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774353034991395, 0.13304213392520595, 1.0409302791767625, 0.1552994342449006, 0.7455594249241482, 0.633642195194246, 0.13609113894520886], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1069417171502884, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.16321611404418945, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.3210363075702041, "step_quality_min": -1.3957049749458887, "step_quality_max": 0.574153746937686, "alignment_signed_mean": -0.7145626346204575, "alignment_abs_mean": 0.8586027053785457, "alignment_min": -0.9978283581187077, "alignment_max": 0.9968286867134563, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1069484150887408, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.1653308868408203, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.30675383963719066, "step_quality_min": -1.369946699176024, "step_quality_max": 0.5491966248774022, "alignment_signed_mean": -0.698531638228806, "alignment_abs_mean": 0.844457493072432, "alignment_min": -0.9979995757609683, "alignment_max": 0.9939263841101582, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 112, "state": {"door_angle": 1.3772262334823608, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31098121404647827, -0.09495286643505096, 1.186675786972046, 0.16536188125610352, 0.8911075592041016, 0.4156828820705414, 0.07609503716230392], "right_arm_pose": [0.5319080352783203, -0.01875874400138855, 1.135308027267456, 0.10472627729177475, 0.5598012208938599, 0.8083001375198364, 0.14935176074504852], "left_arm_joint_positions": [-0.2701303958892822, 0.02407696843147278, -0.30937811732292175, -1.94461989402771, 0.8784466981887817, 1.6850886344909668, 0.4530395269393921], "right_arm_joint_positions": [0.06789636611938477, -0.18503952026367188, -0.04654929041862488, -2.834975242614746, -1.4437617063522339, 1.0536973476409912, -1.3810230493545532], "pregrasp_goal_pose": [0.38774820615375116, 0.13303727741068933, 1.040930831435864, 0.15529722950109298, 0.7455634137672511, 0.6336374918978703, 0.13609370089164183], "pregrasp_position_error": 0.28127258812803474, "pregrasp_orientation_error_deg": 30.924732830967308}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_right", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 78, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.37777777777777777, "grasp_projected_count": 90, "grasp_visible_count": 34, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774820615375116, 0.13303727741068933, 1.040930831435864, 0.15529722950109298, 0.7455634137672511, 0.6336374918978703, 0.13609370089164183], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.11971370617094, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.19527316093444824, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.33480115181437925, "step_quality_min": -1.468396343805927, "step_quality_max": 0.5088542061617746, "alignment_signed_mean": -0.6808122143611218, "alignment_abs_mean": 0.8191475846882705, "alignment_min": -0.9954846701527338, "alignment_max": 0.9954846701527338, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1182020983332635, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.1945655345916748, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.29939665863436404, "step_quality_min": -1.3940369523235365, "step_quality_max": 0.45926709130067295, "alignment_signed_mean": -0.7247179112301877, "alignment_abs_mean": 0.8111056565983586, "alignment_min": -0.9986983178544532, "alignment_max": 0.9298671237409402, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774820615375114, 0.13303727741068933, 1.040930831435864, 0.15529722950109298, 0.7455634137672511, 0.6336374918978703, 0.13609370089164183], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1349154683572413, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.19803285598754883, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.22830124880369923, "step_quality_min": -1.3885951962652652, "step_quality_max": 0.4789475401751614, "alignment_signed_mean": -0.73400534975077, "alignment_abs_mean": 0.7883425461343618, "alignment_min": -0.9976400601180853, "alignment_max": 0.7292258439943557, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1350000616149287, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.2000272274017334, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.2085513104601147, "step_quality_min": -1.3905297681973423, "step_quality_max": 0.4335978564374757, "alignment_signed_mean": -0.7308593310846776, "alignment_abs_mean": 0.7733315251730125, "alignment_min": -0.9992773420031598, "alignment_max": 0.7337377377709543, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077482061537512, 0.13303727741068933, 1.040930831435864, 0.15529722950109298, 0.7455634137672511, 0.6336374918978703, 0.13609370089164183], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1071330665696069, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.1949300765991211, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.29959998976833707, "step_quality_min": -1.3946274300423762, "step_quality_max": 0.46516481547213595, "alignment_signed_mean": -0.7163931565993897, "alignment_abs_mean": 0.8197426479171315, "alignment_min": -0.9980333713430226, "alignment_max": 0.9959671902827409, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1070549036860564, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.19610023498535156, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.27793237392199954, "step_quality_min": -1.3960597144774327, "step_quality_max": 0.5601571145155417, "alignment_signed_mean": -0.7162706268161032, "alignment_abs_mean": 0.8185215894794524, "alignment_min": -0.9980077208031961, "alignment_max": 0.9957638545677868, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 113, "state": {"door_angle": 1.3553184270858765, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31094875931739807, -0.09492531418800354, 1.186586618423462, 0.16537350416183472, 0.8911064267158508, 0.41569414734840393, 0.07602214068174362], "right_arm_pose": [0.5296148657798767, -0.025306567549705505, 1.1330881118774414, 0.10392951965332031, 0.5502901673316956, 0.8146052360534668, 0.15098948776721954], "left_arm_joint_positions": [-0.27011752128601074, 0.024112731218338013, -0.30935952067375183, -1.9447283744812012, 0.8784340620040894, 1.685011625289917, 0.4530223608016968], "right_arm_joint_positions": [0.07649564743041992, -0.15346527099609375, -0.0354134738445282, -2.825131416320801, -1.4250117540359497, 1.0285956859588623, -1.3610178232192993], "pregrasp_goal_pose": [0.3877440899341394, 0.13304257142945447, 1.0409303006048427, 0.15529790605189045, 0.7455610882549516, 0.6336402295006476, 0.13609292271957696], "pregrasp_position_error": 0.28121636260699273, "pregrasp_orientation_error_deg": 30.925916097437316}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_right", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 69, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877440899341394, 0.13304257142945447, 1.0409303006048427, 0.15529790605189045, 0.7455610882549516, 0.6336402295006476, 0.13609292271957696], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196017504306288, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.2166447639465332, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.32108835805637226, "step_quality_min": -1.5016533057734602, "step_quality_max": 0.6230649496916242, "alignment_signed_mean": -0.6061052589220635, "alignment_abs_mean": 0.8035745228954637, "alignment_min": -0.9944650723363316, "alignment_max": 0.9944650723363316, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1181569444156514, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.21803784370422363, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.2753515222478532, "step_quality_min": -1.3981188190724705, "step_quality_max": 0.4798276489465397, "alignment_signed_mean": -0.7084456479525278, "alignment_abs_mean": 0.7851834581940079, "alignment_min": -0.9994991534032942, "alignment_max": 0.9545326212270282, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677440899341394, 0.13304257142945447, 1.0409303006048427, 0.15529790605189045, 0.7455610882549516, 0.6336402295006476, 0.13609292271957696], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1347221783703734, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.22030949592590332, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.24391791508249644, "step_quality_min": -1.5250207618311282, "step_quality_max": 0.5820662351789413, "alignment_signed_mean": -0.6024991545981601, "alignment_abs_mean": 0.7712348098570772, "alignment_min": -0.9980959383308688, "alignment_max": 0.9980959383308688, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1348053540442842, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.2188727855682373, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.2658823179186696, "step_quality_min": -1.5271129362328097, "step_quality_max": 0.5148225341724074, "alignment_signed_mean": -0.6273839498656526, "alignment_abs_mean": 0.7730864047299411, "alignment_min": -0.9984243304312365, "alignment_max": 0.9984243304312365, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077440899341394, 0.13304257142945447, 1.0409303006048427, 0.15529790605189045, 0.7455610882549516, 0.6336402295006476, 0.13609292271957696], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.10700595006684, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.21750307083129883, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.34833445756136744, "step_quality_min": -1.542316857020078, "step_quality_max": 0.6152884992425182, "alignment_signed_mean": -0.5844196680412203, "alignment_abs_mean": 0.7830811981152795, "alignment_min": -0.9979978556119155, "alignment_max": 0.9979978556119155, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1071096682030335, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.21638178825378418, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.3390673961037014, "step_quality_min": -1.5404086733501803, "step_quality_max": 0.6481753587601983, "alignment_signed_mean": -0.5957004395275027, "alignment_abs_mean": 0.784545119190242, "alignment_min": -0.9978777362151857, "alignment_max": 0.9978777362151857, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 114, "state": {"door_angle": 1.3328384160995483, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109639883041382, -0.09495367109775543, 1.1866284608840942, 0.1653851717710495, 0.8911057710647583, 0.4156872034072876, 0.07604257762432098], "right_arm_pose": [0.5273573994636536, -0.03188282251358032, 1.1306989192962646, 0.10302826017141342, 0.5407013297080994, 0.8208412528038025, 0.1524694561958313], "left_arm_joint_positions": [-0.27013349533081055, 0.024331599473953247, -0.3093695342540741, -1.9447813034057617, 0.8784228563308716, 1.6850838661193848, 0.4530702829360962], "right_arm_joint_positions": [0.08504796028137207, -0.12107539176940918, -0.024921149015426636, -2.814650058746338, -1.4067274332046509, 1.0041778087615967, -1.3409017324447632], "pregrasp_goal_pose": [0.387748120890156, 0.13303872003469377, 1.0409299393563594, 0.1552958684093917, 0.7455617544559883, 0.6336394317743714, 0.13609531236649225], "pregrasp_position_error": 0.2812550312557034, "pregrasp_orientation_error_deg": 30.926002463953537}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_right", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 50, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.387748120890156, 0.13303872003469377, 1.0409299393563594, 0.1552958684093917, 0.7455617544559883, 0.6336394317743714, 0.13609531236649225], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1197227942638546, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.23901629447937012, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.3524246445021048, "step_quality_min": -1.5790571116699923, "step_quality_max": 0.5440401938336255, "alignment_signed_mean": -0.5400628339682733, "alignment_abs_mean": 0.7870154817550262, "alignment_min": -0.997813306732575, "alignment_max": 0.997813306732575, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1181842980953038, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.23967957496643066, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.3586630020440669, "step_quality_min": -1.539483104964653, "step_quality_max": 0.5216325667770609, "alignment_signed_mean": -0.5553859960770692, "alignment_abs_mean": 0.7843079965370231, "alignment_min": -0.993261921735623, "alignment_max": 0.993261921735623, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774812089015596, 0.13303872003469377, 1.0409299393563594, 0.1552958684093917, 0.7455617544559883, 0.6336394317743714, 0.13609531236649225], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1349429263432689, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.2388167381286621, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.28189805174543503, "step_quality_min": -1.5483507063531818, "step_quality_max": 0.6282345276281853, "alignment_signed_mean": -0.546639940767294, "alignment_abs_mean": 0.7618290247619379, "alignment_min": -0.997993733855783, "alignment_max": 0.997993733855783, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1348918831549457, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.240342378616333, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.23654314077138577, "step_quality_min": -1.5367602828086784, "step_quality_max": 0.4958465588778898, "alignment_signed_mean": -0.5527395615329839, "alignment_abs_mean": 0.7616928652856525, "alignment_min": -0.9963411926708323, "alignment_max": 0.9963411926708323, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.407748120890156, 0.13303872003469377, 1.0409299393563594, 0.1552958684093917, 0.7455617544559883, 0.6336394317743714, 0.13609531236649225], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1071379156229268, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.23915910720825195, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.37560790597597654, "step_quality_min": -1.5585074481948051, "step_quality_max": 0.5387217861817825, "alignment_signed_mean": -0.5207092919296873, "alignment_abs_mean": 0.7912606234757581, "alignment_min": -0.9977122198050744, "alignment_max": 0.9977122198050744, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.107177691137862, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.2394113540649414, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.3784727189121739, "step_quality_min": -1.5822715311841067, "step_quality_max": 0.5784554198728145, "alignment_signed_mean": -0.5363779915631746, "alignment_abs_mean": 0.7928050076077972, "alignment_min": -0.9976981772066604, "alignment_max": 0.9976981772066604, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 115, "state": {"door_angle": 1.3033572435379028, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31095778942108154, -0.09495969861745834, 1.1865712404251099, 0.16540351510047913, 0.8910976052284241, 0.4157063066959381, 0.07599378377199173], "right_arm_pose": [0.5252114534378052, -0.03838542848825455, 1.1280258893966675, 0.10206818580627441, 0.531245768070221, 0.8268455862998962, 0.15390397608280182], "left_arm_joint_positions": [-0.27013444900512695, 0.024294883012771606, -0.3093547523021698, -1.9448065757751465, 0.878437876701355, 1.685028314590454, 0.4530249834060669], "right_arm_joint_positions": [0.09316611289978027, -0.08864045143127441, -0.01528283953666687, -2.8029627799987793, -1.3881999254226685, 0.9804739952087402, -1.320881724357605], "pregrasp_goal_pose": [0.3877435286914884, 0.133042271996063, 1.0409309331003196, 0.15529909105756493, 0.7455614136975374, 0.6336398557340633, 0.1360915278308655], "pregrasp_position_error": 0.2812330838941452, "pregrasp_orientation_error_deg": 30.924991178746637}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_right", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 31, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877435286914884, 0.133042271996063, 1.0409309331003196, 0.15529909105756493, 0.7455614136975374, 0.6336398557340633, 0.1360915278308655], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196321857904517, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.26824259757995605, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.35741264599730493, "step_quality_min": -1.5617245348497992, "step_quality_max": 0.603010070220754, "alignment_signed_mean": -0.5298014084502014, "alignment_abs_mean": 0.7348359035626957, "alignment_min": -0.9996201554475156, "alignment_max": 0.9996201554475156, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1181554418352486, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.26836347579956055, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.36094889160206167, "step_quality_min": -1.5972543725866268, "step_quality_max": 0.5770767889871218, "alignment_signed_mean": -0.5198623956110688, "alignment_abs_mean": 0.7556173590048898, "alignment_min": -0.9988378514352771, "alignment_max": 0.9988378514352771, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677435286914884, 0.133042271996063, 1.0409309331003196, 0.15529909105756493, 0.7455614136975374, 0.6336398557340633, 0.1360915278308655], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134860008614403, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.2694718837738037, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.3110215995591438, "step_quality_min": -1.603776363935502, "step_quality_max": 0.5069175298542413, "alignment_signed_mean": -0.5219673441057443, "alignment_abs_mean": 0.7439094552764902, "alignment_min": -0.9965377260698121, "alignment_max": 0.9965377260698121, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1348355161737058, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.2724430561065674, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.26626319034364293, "step_quality_min": -1.5601315806657845, "step_quality_max": 0.5053482029781402, "alignment_signed_mean": -0.4846476703454518, "alignment_abs_mean": 0.7558342622962426, "alignment_min": -0.9958382802817677, "alignment_max": 0.9958382802817677, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774352869148844, 0.133042271996063, 1.0409309331003196, 0.15529909105756493, 0.7455614136975374, 0.6336398557340633, 0.1360915278308655], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1069455269485518, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.26919031143188477, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.39280678840665073, "step_quality_min": -1.5944558603505072, "step_quality_max": 0.6131551373805012, "alignment_signed_mean": -0.5041501197070949, "alignment_abs_mean": 0.7724402031124039, "alignment_min": -0.9979463915029504, "alignment_max": 0.9979463915029504, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1069773810863321, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.2677443027496338, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.38581744570226445, "step_quality_min": -1.585659364011727, "step_quality_max": 0.6774328605710773, "alignment_signed_mean": -0.5094594402487806, "alignment_abs_mean": 0.7766625231028433, "alignment_min": -0.9986141949795553, "alignment_max": 0.9986141949795553, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 116, "state": {"door_angle": 1.2807234525680542, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109549582004547, -0.09497714787721634, 1.1866570711135864, 0.16537439823150635, 0.8911033868789673, 0.415689080953598, 0.07608387619256973], "right_arm_pose": [0.5225635170936584, -0.044735200703144073, 1.1252918243408203, 0.10058815032243729, 0.5216259956359863, 0.8329874277114868, 0.1546618640422821], "left_arm_joint_positions": [-0.2701261043548584, 0.02412131428718567, -0.3093583285808563, -1.944671869277954, 0.8784159421920776, 1.685089349746704, 0.45303213596343994], "right_arm_joint_positions": [0.10114288330078125, -0.055735111236572266, -0.0061807334423065186, -2.791126251220703, -1.3722249269485474, 0.9574604034423828, -1.3012639284133911], "pregrasp_goal_pose": [0.38774275300586547, 0.13304230961841795, 1.0409324122225396, 0.15530178616045476, 0.7455631040647084, 0.6336378890838303, 0.13608834847317702], "pregrasp_position_error": 0.281291511845973, "pregrasp_orientation_error_deg": 30.92413070751461}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_right", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 6, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774275300586547, 0.13304230961841795, 1.0409324122225396, 0.15530178616045476, 0.7455631040647084, 0.6336378890838303, 0.13608834847317702], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196980230225775, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.29215049743652344, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.3402594159229673, "step_quality_min": -1.5749165428096963, "step_quality_max": 0.6153991019612053, "alignment_signed_mean": -0.4354592928264923, "alignment_abs_mean": 0.7434316199253103, "alignment_min": -0.9999943876189337, "alignment_max": 0.9999943876189337, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1183194848427291, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.2916128635406494, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.4018607925912344, "step_quality_min": -1.614264546535631, "step_quality_max": 0.6009599688965782, "alignment_signed_mean": -0.40304935524415836, "alignment_abs_mean": 0.7668309501691507, "alignment_min": -0.9997716839187861, "alignment_max": 0.9997716839187861, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774275300586545, 0.13304230961841795, 1.0409324122225396, 0.15530178616045476, 0.7455631040647084, 0.6336378890838303, 0.13608834847317702], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1349436583921158, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.29373812675476074, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.3193686384944812, "step_quality_min": -1.623151979065749, "step_quality_max": 0.5147420405932036, "alignment_signed_mean": -0.4586842240953837, "alignment_abs_mean": 0.7336041364285633, "alignment_min": -0.9956902421632529, "alignment_max": 0.9956902421632529, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1349080076225602, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.29294919967651367, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.320883197496463, "step_quality_min": -1.6274198909289581, "step_quality_max": 0.5069961402134574, "alignment_signed_mean": -0.4551065228069436, "alignment_abs_mean": 0.7422825328432513, "alignment_min": -0.9968478150912895, "alignment_max": 0.9968478150912895, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077427530058655, 0.13304230961841795, 1.0409324122225396, 0.15530178616045476, 0.7455631040647084, 0.6336378890838303, 0.13608834847317702], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070851624647253, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.2919740676879883, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.41373155779552684, "step_quality_min": -1.5730471213495925, "step_quality_max": 0.659321849021323, "alignment_signed_mean": -0.4178723749798059, "alignment_abs_mean": 0.7796488378071117, "alignment_min": -0.9991060437112078, "alignment_max": 0.9991060437112078, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.107028748451139, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.2917299270629883, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.41951435141283816, "step_quality_min": -1.5880248011346243, "step_quality_max": 0.6040341461855725, "alignment_signed_mean": -0.4541954569241582, "alignment_abs_mean": 0.7827735563569723, "alignment_min": -0.9976605596472591, "alignment_max": 0.9976605596472591, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 117, "state": {"door_angle": 1.2526122331619263, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.3109489977359772, -0.0949682667851448, 1.186708688735962, 0.16536235809326172, 0.8911079168319702, 0.4156792461872101, 0.07611069083213806], "right_arm_pose": [0.520214855670929, -0.05128011107444763, 1.1222329139709473, 0.09927304834127426, 0.5125426650047302, 0.8385406732559204, 0.1558666080236435], "left_arm_joint_positions": [-0.27015042304992676, 0.02413538098335266, -0.3093838393688202, -1.9446735382080078, 0.8784400224685669, 1.6850707530975342, 0.45302069187164307], "right_arm_joint_positions": [0.10919427871704102, -0.02260899543762207, 0.002670079469680786, -2.7783875465393066, -1.35366952419281, 0.9352400302886963, -1.2819191217422485], "pregrasp_goal_pose": [0.38774378343617827, 0.13304249385765207, 1.0409292609653864, 0.1552952463555635, 0.7455614271808102, 0.633639811800083, 0.136096045722988], "pregrasp_position_error": 0.2813147483527358, "pregrasp_orientation_error_deg": 30.925103688971287}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_right", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774378343617827, 0.13304249385765207, 1.0409292609653864, 0.1552952463555635, 0.7455614271808102, 0.633639811800083, 0.136096045722988], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1197977543664825, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.32046031951904297, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.42465459100032243, "step_quality_min": -1.5846799657250565, "step_quality_max": 0.584782185399168, "alignment_signed_mean": -0.448401405030386, "alignment_abs_mean": 0.7428113094681441, "alignment_min": -0.993556947086418, "alignment_max": 0.993556947086418, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1182384628149271, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.3198516368865967, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.4393766426672223, "step_quality_min": -1.5762344309789644, "step_quality_max": 0.5804056282772057, "alignment_signed_mean": -0.4834313025805024, "alignment_abs_mean": 0.7306500149094302, "alignment_min": -0.9992840143716846, "alignment_max": 0.9992840143716846, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774378343617825, 0.13304249385765207, 1.0409292609653864, 0.1552952463555635, 0.7455614271808102, 0.633639811800083, 0.136096045722988], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.135064441261069, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.3199925422668457, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.36285275922238025, "step_quality_min": -1.5573479871292573, "step_quality_max": 0.5170823722549356, "alignment_signed_mean": -0.5017368415381757, "alignment_abs_mean": 0.7125859653209703, "alignment_min": -0.9987594534388418, "alignment_max": 0.9987594534388418, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1350165348421901, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.32291293144226074, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.313082022022927, "step_quality_min": -1.58531043559401, "step_quality_max": 0.5507698639734888, "alignment_signed_mean": -0.5072652783252575, "alignment_abs_mean": 0.6875317060933774, "alignment_min": -0.998988783596977, "alignment_max": 0.998988783596977, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077437834361783, 0.13304249385765207, 1.0409292609653864, 0.1552952463555635, 0.7455614271808102, 0.633639811800083, 0.136096045722988], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1072166271946227, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.3192141056060791, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.4433870933499086, "step_quality_min": -1.5777042861355661, "step_quality_max": 0.6481620253409445, "alignment_signed_mean": -0.49351762613449895, "alignment_abs_mean": 0.7454056815167341, "alignment_min": -0.9978597954891576, "alignment_max": 0.9978597954891576, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.107143135413698, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.3211100101470947, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.4420323077434012, "step_quality_min": -1.6346555953379829, "step_quality_max": 0.5085652909476099, "alignment_signed_mean": -0.4717597563558441, "alignment_abs_mean": 0.7373314004142629, "alignment_min": -0.9993302383273458, "alignment_max": 0.9993302383273458, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 118, "state": {"door_angle": 1.2264043092727661, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3109416365623474, -0.09495054185390472, 1.186628818511963, 0.16537386178970337, 0.8911066651344299, 0.4156856834888458, 0.07606536895036697], "right_arm_pose": [0.517803966999054, -0.057736605405807495, 1.1190316677093506, 0.09790482372045517, 0.5034804344177246, 0.8439599275588989, 0.15701521933078766], "left_arm_joint_positions": [-0.2701380252838135, 0.024144917726516724, -0.309371680021286, -1.94478440284729, 0.8784314393997192, 1.68505859375, 0.4530411958694458], "right_arm_joint_positions": [0.11718511581420898, 0.010653257369995117, 0.010821133852005005, -2.764492988586426, -1.3352452516555786, 0.9138102531433105, -1.2629724740982056], "pregrasp_goal_pose": [0.3877436556767524, 0.13304244132846405, 1.0409315088241837, 0.15529799690755797, 0.7455646760882186, 0.6336360141701233, 0.13609278993601825], "pregrasp_position_error": 0.2812597670672113, "pregrasp_orientation_error_deg": 30.924985952608946}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_right", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.16666666666666666, "tray_projected_count": 288, "tray_visible_count": 48}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877436556767524, 0.13304244132846405, 1.0409315088241837, 0.15529799690755797, 0.7455646760882186, 0.6336360141701233, 0.13609278993601825], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196299890493449, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.34519052505493164, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.4415276947846542, "step_quality_min": -1.6173679394745661, "step_quality_max": 0.5672108112153608, "alignment_signed_mean": -0.3952346110900369, "alignment_abs_mean": 0.742814243485573, "alignment_min": -0.9990956853399736, "alignment_max": 0.9990956853399736, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1181697037154057, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.34706997871398926, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.4493074995589766, "step_quality_min": -1.5773650234086036, "step_quality_max": 0.5109619092257677, "alignment_signed_mean": -0.4313552826987065, "alignment_abs_mean": 0.7392723729145976, "alignment_min": -0.9978546240011494, "alignment_max": 0.9978546240011494, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677436556767524, 0.13304244132846405, 1.0409315088241837, 0.15529799690755797, 0.7455646760882186, 0.6336360141701233, 0.13609278993601825], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1346880465493747, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.34926676750183105, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.32137993611055954, "step_quality_min": -1.662402993639786, "step_quality_max": 0.5123245326304546, "alignment_signed_mean": -0.4355056238684, "alignment_abs_mean": 0.6812794068327347, "alignment_min": -0.9981003437008946, "alignment_max": 0.9981003437008946, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.134821322905052, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.3456604480743408, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.3635768182677021, "step_quality_min": -1.5840434102030696, "step_quality_max": 0.5116493276225653, "alignment_signed_mean": -0.44877996881845794, "alignment_abs_mean": 0.7113107692893184, "alignment_min": -0.9987880231944367, "alignment_max": 0.9987880231944367, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077436556767524, 0.13304244132846405, 1.0409315088241837, 0.15529799690755797, 0.7455646760882186, 0.6336360141701233, 0.13609278993601825], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1069412352520904, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.3461267948150635, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.41415102128620346, "step_quality_min": -1.618528076417288, "step_quality_max": 0.5045754672143961, "alignment_signed_mean": -0.391337921612196, "alignment_abs_mean": 0.7270416046974982, "alignment_min": -0.9989082249982709, "alignment_max": 0.9989082249982709, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1070652341615914, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.3458130359649658, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.4402093044399463, "step_quality_min": -1.58706467037505, "step_quality_max": 0.5105766233235715, "alignment_signed_mean": -0.4159062643154298, "alignment_abs_mean": 0.7480699079744452, "alignment_min": -0.9969070923273312, "alignment_max": 0.9969070923273312, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 119, "state": {"door_angle": 1.2016080617904663, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31094348430633545, -0.09496626257896423, 1.1865876913070679, 0.16538432240486145, 0.8911003470420837, 0.41570356488227844, 0.07601838558912277], "right_arm_pose": [0.5151969790458679, -0.06436814367771149, 1.1155415773391724, 0.09613094478845596, 0.49500250816345215, 0.8490513563156128, 0.15761713683605194], "left_arm_joint_positions": [-0.2701287269592285, 0.024343281984329224, -0.3093707263469696, -1.9447569847106934, 0.8784281015396118, 1.685046911239624, 0.4530285596847534], "right_arm_joint_positions": [0.12549328804016113, 0.043915748596191406, 0.018463164567947388, -2.7501444816589355, -1.3177820444107056, 0.8939225673675537, -1.2443805932998657], "pregrasp_goal_pose": [0.38774319536814483, 0.13304235507694506, 1.0409304334640457, 0.1552940374515488, 0.7455651751353177, 0.633635398804325, 0.1360974391365394], "pregrasp_position_error": 0.2812510659657749, "pregrasp_orientation_error_deg": 30.924222669235974}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_right", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.2638888888888889, "tray_projected_count": 288, "tray_visible_count": 76}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774319536814483, 0.13304235507694506, 1.0409304334640457, 0.1552940374515488, 0.7455651751353177, 0.633635398804325, 0.1360974391365394], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196467029742483, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.37134552001953125, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.441180894039097, "step_quality_min": -1.5831657210549794, "step_quality_max": 0.5742084166168454, "alignment_signed_mean": -0.427464880516973, "alignment_abs_mean": 0.7167415086956729, "alignment_min": -0.9947038100962816, "alignment_max": 0.9947038100962816, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1181593621713337, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.3694460391998291, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.4657437413590488, "step_quality_min": -1.6157155302276542, "step_quality_max": 0.6113863630554666, "alignment_signed_mean": -0.38830111729058375, "alignment_abs_mean": 0.7335388556401571, "alignment_min": -0.998343610005735, "alignment_max": 0.998343610005735, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677431953681448, 0.13304235507694506, 1.0409304334640457, 0.1552940374515488, 0.7455651751353177, 0.633635398804325, 0.1360974391365394], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348830518441724, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.3701744079589844, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.3870261544987657, "step_quality_min": -1.5907370251185697, "step_quality_max": 0.5236278558394416, "alignment_signed_mean": -0.4087173501586215, "alignment_abs_mean": 0.6965835434931494, "alignment_min": -0.9989099250899164, "alignment_max": 0.9989099250899164, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.134919511846566, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.3715028762817383, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.35145525300942776, "step_quality_min": -1.5591935051319639, "step_quality_max": 0.5265224442494555, "alignment_signed_mean": -0.40107448566684095, "alignment_abs_mean": 0.7148888694068739, "alignment_min": -0.9952520158731466, "alignment_max": 0.9952520158731466, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774319536814485, 0.13304235507694506, 1.0409304334640457, 0.1552940374515488, 0.7455651751353177, 0.633635398804325, 0.1360974391365394], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070507731181154, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.37036705017089844, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.4676946746293807, "step_quality_min": -1.6317794098716423, "step_quality_max": 0.5496623792748663, "alignment_signed_mean": -0.37046558872438684, "alignment_abs_mean": 0.7633572986988696, "alignment_min": -0.9965918874758675, "alignment_max": 0.9965918874758675, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1070388376183766, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.37044405937194824, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.4609158722405396, "step_quality_min": -1.628568048716259, "step_quality_max": 0.5192059743084033, "alignment_signed_mean": -0.40371280167704293, "alignment_abs_mean": 0.7470187868095807, "alignment_min": -0.9956907923320559, "alignment_max": 0.9956907923320559, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 120, "state": {"door_angle": 1.1751865148544312, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31094279885292053, -0.0949726402759552, 1.1866545677185059, 0.16537927091121674, 0.8911039233207703, 0.41569003462791443, 0.07606115192174911], "right_arm_pose": [0.5129410624504089, -0.0708400309085846, 1.1115728616714478, 0.09461484104394913, 0.48690226674079895, 0.8536211848258972, 0.15907585620880127], "left_arm_joint_positions": [-0.27013516426086426, 0.024210721254348755, -0.30936405062675476, -1.9446730613708496, 0.8784512281417847, 1.68503999710083, 0.4530576467514038], "right_arm_joint_positions": [0.13362693786621094, 0.0775763988494873, 0.025599509477615356, -2.7351651191711426, -1.2972768545150757, 0.874600887298584, -1.2261027097702026], "pregrasp_goal_pose": [0.38774802028261235, 0.13303799332267532, 1.0409322477265284, 0.15530427407469743, 0.7455603644147201, 0.6336411265184588, 0.13608544467480405], "pregrasp_position_error": 0.2812879052088042, "pregrasp_orientation_error_deg": 30.925071943533307}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_right", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.3715277777777778, "tray_projected_count": 288, "tray_visible_count": 107}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774802028261235, 0.13303799332267532, 1.0409322477265284, 0.15530427407469743, 0.7455603644147201, 0.6336411265184588, 0.13608544467480405], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1197199101001514, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.4123106002807617, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.3877147289690668, "step_quality_min": -1.7315859701978242, "step_quality_max": 0.5266435026503316, "alignment_signed_mean": -0.41064956447887285, "alignment_abs_mean": 0.6945536169794561, "alignment_min": -0.9971933359073563, "alignment_max": 0.9971933359073563, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1181610167856433, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.4160270690917969, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.4229155954481999, "step_quality_min": -1.7587030106157109, "step_quality_max": 0.5247315208581211, "alignment_signed_mean": -0.2893066279850976, "alignment_abs_mean": 0.7090774035527253, "alignment_min": -0.9980647516088558, "alignment_max": 0.9980647516088558, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774802028261233, 0.13303799332267532, 1.0409322477265284, 0.15530427407469743, 0.7455603644147201, 0.6336411265184588, 0.13608544467480405], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1349348765079772, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.40058064460754395, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.4785746115040986, "step_quality_min": -1.778328798295378, "step_quality_max": 0.5246376222030766, "alignment_signed_mean": -0.25194206968432026, "alignment_abs_mean": 0.7589397987377199, "alignment_min": -0.9989900543291819, "alignment_max": 0.9989900543291819, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1349792040647653, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.4039747714996338, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.47695148370969714, "step_quality_min": -1.7813866993817884, "step_quality_max": 0.5308846538551778, "alignment_signed_mean": -0.2386535786186829, "alignment_abs_mean": 0.7520654495729385, "alignment_min": -0.9993664518551659, "alignment_max": 0.9993664518551659, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774802028261237, 0.13303799332267532, 1.0409322477265284, 0.15530427407469743, 0.7455603644147201, 0.6336411265184588, 0.13608544467480405], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1071339559906257, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.42072510719299316, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.48976301874983424, "step_quality_min": -1.7623848728718716, "step_quality_max": 0.5234310367586442, "alignment_signed_mean": -0.3599425199645699, "alignment_abs_mean": 0.774923060922664, "alignment_min": -0.996204935280398, "alignment_max": 0.996204935280398, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1071411341198927, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.41596269607543945, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_frame0"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.4518807278769778, "step_quality_min": -1.7553162631678547, "step_quality_max": 0.5122217389218005, "alignment_signed_mean": -0.36391545781932017, "alignment_abs_mean": 0.7184477682549897, "alignment_min": -0.9955877385534304, "alignment_max": 0.9955877385534304, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 121, "state": {"door_angle": 1.1468168497085571, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.310946524143219, -0.0949498638510704, 1.1865731477737427, 0.16540703177452087, 0.8910965323448181, 0.41570404171943665, 0.07601099461317062], "right_arm_pose": [0.5103641748428345, -0.07731427252292633, 1.1077240705490112, 0.09284397214651108, 0.4784596562385559, 0.8584226965904236, 0.1598968356847763], "left_arm_joint_positions": [-0.27013564109802246, 0.024311333894729614, -0.30939528346061707, -1.9448902606964111, 0.8784471750259399, 1.6850037574768066, 0.4530576467514038], "right_arm_joint_positions": [0.14182305335998535, 0.1110694408416748, 0.03163602948188782, -2.7194862365722656, -1.2800711393356323, 0.8551690578460693, -1.208497166633606], "pregrasp_goal_pose": [0.38774361859775913, 0.13304275031184581, 1.0409305015998336, 0.1552971760732152, 0.7455631909812201, 0.6336377532993961, 0.13609376529172365], "pregrasp_position_error": 0.28122981032251615, "pregrasp_orientation_error_deg": 30.924465105633995}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_right", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.5138888888888888, "tray_projected_count": 288, "tray_visible_count": 148}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774361859775913, 0.13304275031184581, 1.0409305015998336, 0.1552971760732152, 0.7455631909812201, 0.6336377532993961, 0.13609376529172365], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119613490689588, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.4423048496246338, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.40885663604557615, "step_quality_min": -1.7412102920636814, "step_quality_max": 0.5362610367774916, "alignment_signed_mean": -0.4152720561949083, "alignment_abs_mean": 0.6813100794501383, "alignment_min": -0.9975545535417062, "alignment_max": 0.9975545535417062, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.118147445148826, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.42786335945129395, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.4020420854765875, "step_quality_min": -1.7163071884082781, "step_quality_max": 0.5189705441850008, "alignment_signed_mean": -0.3523933436930596, "alignment_abs_mean": 0.7091956339636873, "alignment_min": -0.9956181472831728, "alignment_max": 0.9956181472831728, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677436185977591, 0.13304275031184581, 1.0409305015998336, 0.1552971760732152, 0.7455631909812201, 0.6336377532993961, 0.13609376529172365], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348685174085045, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.43239355087280273, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.37283769822465934, "step_quality_min": -1.7027361784053623, "step_quality_max": 0.5349075428871816, "alignment_signed_mean": -0.34459286527131666, "alignment_abs_mean": 0.6802731876679899, "alignment_min": -0.9980511989823602, "alignment_max": 0.9980511989823602, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1348493021560677, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.4346957206726074, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.4183038739436644, "step_quality_min": -1.767192042120942, "step_quality_max": 0.5331645902741285, "alignment_signed_mean": -0.36591186922255675, "alignment_abs_mean": 0.7031209661455681, "alignment_min": -0.9944288270704199, "alignment_max": 0.9944288270704199, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774361859775915, 0.13304275031184581, 1.0409305015998336, 0.1552971760732152, 0.7455631909812201, 0.6336377532993961, 0.13609376529172365], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106969181078516, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.44665002822875977, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.47215247157459794, "step_quality_min": -1.7333976893225458, "step_quality_max": 0.5293497584548488, "alignment_signed_mean": -0.454237076150991, "alignment_abs_mean": 0.7231215390118849, "alignment_min": -0.9950440609767531, "alignment_max": 0.99298878893629, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1069334531036759, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.4391353130340576, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.40155605833259933, "step_quality_min": -1.7074196544340123, "step_quality_max": 0.6010446415222505, "alignment_signed_mean": -0.32165839488427095, "alignment_abs_mean": 0.6916234072052369, "alignment_min": -0.9952263373349571, "alignment_max": 0.9952263373349571, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 122, "state": {"door_angle": 1.1212583780288696, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109498918056488, -0.09495480358600616, 1.1866265535354614, 0.16538777947425842, 0.8911007642745972, 0.41569265723228455, 0.07606612145900726], "right_arm_pose": [0.5077417492866516, -0.0838928371667862, 1.10333251953125, 0.09078196436166763, 0.47100523114204407, 0.8626614809036255, 0.1603994369506836], "left_arm_joint_positions": [-0.2701232433319092, 0.024035245180130005, -0.30938073992729187, -1.9447429180145264, 0.8784314393997192, 1.6850473880767822, 0.4530230760574341], "right_arm_joint_positions": [0.1503915786743164, 0.14467787742614746, 0.03799822926521301, -2.7029500007629395, -1.2621983289718628, 0.8381214141845703, -1.1911543607711792], "pregrasp_goal_pose": [0.38774407192736593, 0.13304285987250633, 1.0409309897207686, 0.15529471027089692, 0.7455661671390166, 0.6336342380328936, 0.1360966412957653], "pregrasp_position_error": 0.2812605161738652, "pregrasp_orientation_error_deg": 30.92385841306504}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_right", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.6215277777777778, "tray_projected_count": 288, "tray_visible_count": 179}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774407192736593, 0.13304285987250633, 1.0409309897207686, 0.15529471027089692, 0.7455661671390166, 0.6336342380328936, 0.1360966412957653], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196399517207678, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.4530763626098633, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.4230284770240446, "step_quality_min": -1.7224052848455038, "step_quality_max": 0.7049503827801947, "alignment_signed_mean": -0.3668301918695247, "alignment_abs_mean": 0.650343389742147, "alignment_min": -0.9971063389618564, "alignment_max": 0.9971063389618564, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.118106046325819, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.4530503749847412, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.44612342444167813, "step_quality_min": -1.7209964965905302, "step_quality_max": 0.5272573598198386, "alignment_signed_mean": -0.33809445532704824, "alignment_abs_mean": 0.7114638578364663, "alignment_min": -0.9951311337400373, "alignment_max": 0.9951311337400373, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677440719273659, 0.13304285987250633, 1.0409309897207686, 0.15529471027089692, 0.7455661671390166, 0.6336342380328936, 0.1360966412957653], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348369555999924, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.45691680908203125, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.42510428860454313, "step_quality_min": -1.6505526504030015, "step_quality_max": 0.5541231500400022, "alignment_signed_mean": -0.29922381313941243, "alignment_abs_mean": 0.7536240496173661, "alignment_min": -0.9976817823769439, "alignment_max": 0.9976817823769439, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1348119497851716, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.4561131000518799, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.4817772365211989, "step_quality_min": -1.743359947093368, "step_quality_max": 0.5399811229051955, "alignment_signed_mean": -0.32074890375383525, "alignment_abs_mean": 0.7421651266511095, "alignment_min": -0.998176737467746, "alignment_max": 0.998176737467746, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774407192736595, 0.13304285987250633, 1.0409309897207686, 0.15529471027089692, 0.7455661671390166, 0.6336342380328936, 0.1360966412957653], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070026287756116, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.46964573860168457, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.5138848538392515, "step_quality_min": -1.72053323586653, "step_quality_max": 0.5232981702500539, "alignment_signed_mean": -0.3982519390349189, "alignment_abs_mean": 0.7691578025774842, "alignment_min": -0.9938508783427359, "alignment_max": 0.9938508783427359, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.106988982737824, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.4666004180908203, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.440481439255706, "step_quality_min": -1.714573331032475, "step_quality_max": 0.542512856053151, "alignment_signed_mean": -0.40989567699905516, "alignment_abs_mean": 0.6905356834485145, "alignment_min": -0.9918968299451623, "alignment_max": 0.9918968299451623, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 123, "state": {"door_angle": 1.0917891263961792, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31094568967819214, -0.09494512528181076, 1.1866459846496582, 0.16536876559257507, 0.8911103010177612, 0.41568097472190857, 0.07605922222137451], "right_arm_pose": [0.5050171613693237, -0.09031618386507034, 1.0987427234649658, 0.08867821097373962, 0.463612824678421, 0.8667834401130676, 0.16089102625846863], "left_arm_joint_positions": [-0.2701237201690674, 0.024100810289382935, -0.3093850314617157, -1.9446711540222168, 0.8784140348434448, 1.6850628852844238, 0.45303428173065186], "right_arm_joint_positions": [0.15871381759643555, 0.1785590648651123, 0.0429861843585968, -2.685830593109131, -1.245052456855774, 0.8215100765228271, -1.1744505167007446], "pregrasp_goal_pose": [0.38774299943591706, 0.13304194698948463, 1.0409296270625044, 0.15529573489949966, 0.7455613055094306, 0.633639958345072, 0.13609547250938606], "pregrasp_position_error": 0.2812635574995952, "pregrasp_orientation_error_deg": 30.926450808252135}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_right", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.2777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 25, "tray_visibility": 0.6909722222222222, "tray_projected_count": 288, "tray_visible_count": 199}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774299943591706, 0.13304194698948463, 1.0409296270625044, 0.15529573489949966, 0.7455613055094306, 0.633639958345072, 0.13609547250938606], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1197074451355757, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.4798457622528076, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.45094116873969947, "step_quality_min": -1.7559399167221985, "step_quality_max": 0.544568016422386, "alignment_signed_mean": -0.3693247593189269, "alignment_abs_mean": 0.6343079724840399, "alignment_min": -0.9956853228593695, "alignment_max": 0.9956853228593695, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1181724067492835, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.48804783821105957, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.43863281895895134, "step_quality_min": -1.6691103041645667, "step_quality_max": 0.6267161104626754, "alignment_signed_mean": -0.3543380636922994, "alignment_abs_mean": 0.675999415476949, "alignment_min": -0.9929177022449173, "alignment_max": 0.9929177022449173, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774299943591704, 0.13304194698948463, 1.0409296270625044, 0.15529573489949966, 0.7455613055094306, 0.633639958345072, 0.13609547250938606], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1349263615502099, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.4890177249908447, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.5012039235631394, "step_quality_min": -1.7407264332559038, "step_quality_max": 0.5330253833590164, "alignment_signed_mean": -0.38706570372912263, "alignment_abs_mean": 0.6730015470628392, "alignment_min": -0.9997506588981765, "alignment_max": 0.9989508093318946, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1348807028742016, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.4875633716583252, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.5010922981205754, "step_quality_min": -1.7412214905858088, "step_quality_max": 0.5379934708795077, "alignment_signed_mean": -0.34349263652055834, "alignment_abs_mean": 0.6922391485753139, "alignment_min": -0.9978671805352181, "alignment_max": 0.9978671805352181, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077429994359171, 0.13304194698948463, 1.0409296270625044, 0.15529573489949966, 0.7455613055094306, 0.633639958345072, 0.13609547250938606], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1071116034226893, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.4974691867828369, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.4290588113943904, "step_quality_min": -1.6991060003349585, "step_quality_max": 0.5758361022987415, "alignment_signed_mean": -0.3449629334662692, "alignment_abs_mean": 0.6809661148066563, "alignment_min": -0.9983139026901249, "alignment_max": 0.9983139026901249, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.107081543679924, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.49731922149658203, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.4901428044778747, "step_quality_min": -1.6969677550924667, "step_quality_max": 0.5321011810340037, "alignment_signed_mean": -0.4213107340974241, "alignment_abs_mean": 0.7311877085206174, "alignment_min": -0.9963690329723949, "alignment_max": 0.9963690329723949, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 124, "state": {"door_angle": 1.0634437799453735, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.31093841791152954, -0.09496688842773438, 1.1866309642791748, 0.16536813974380493, 0.8911058306694031, 0.415691077709198, 0.07605727016925812], "right_arm_pose": [0.5023891925811768, -0.09673012793064117, 1.0941424369812012, 0.08663814514875412, 0.45597508549690247, 0.8709321618080139, 0.1614241749048233], "left_arm_joint_positions": [-0.2701289653778076, 0.024289637804031372, -0.3093723952770233, -1.9446637630462646, 0.8784188032150269, 1.6850767135620117, 0.45303261280059814], "right_arm_joint_positions": [0.16749048233032227, 0.21222591400146484, 0.04714348912239075, -2.668281078338623, -1.228223204612732, 0.8045194149017334, -1.1580899953842163], "pregrasp_goal_pose": [0.3877406923908465, 0.13304392886090788, 1.0409317884741522, 0.155300343479703, 0.7455638014800272, 0.6336370590394979, 0.13609003875931863], "pregrasp_position_error": 0.28127526019202936, "pregrasp_orientation_error_deg": 30.924685064827806}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877406923908465, 0.13304392886090788, 1.0409317884741522, 0.155300343479703, 0.7455638014800272, 0.6336370590394979, 0.13609003875931863], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196589347614188, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5161144733428955, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.43874645414716834, "step_quality_min": -1.7264101881512908, "step_quality_max": 0.54545581599139, "alignment_signed_mean": -0.3385659431026258, "alignment_abs_mean": 0.6144952101024779, "alignment_min": -0.99890261198187, "alignment_max": 0.99890261198187, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1181684891576908, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5082850456237793, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.46508248363293353, "step_quality_min": -1.7233539617495741, "step_quality_max": 0.5400853182316401, "alignment_signed_mean": -0.23679125857445318, "alignment_abs_mean": 0.7382950182279608, "alignment_min": -0.9980869423989793, "alignment_max": 0.9980869423989793, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677406923908465, 0.13304392886090788, 1.0409317884741522, 0.155300343479703, 0.7455638014800272, 0.6336370590394979, 0.13609003875931863], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348423926906692, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5164835453033447, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.5131588159811261, "step_quality_min": -1.745348564875842, "step_quality_max": 0.5547683154047774, "alignment_signed_mean": -0.3412012840424847, "alignment_abs_mean": 0.7502726673488086, "alignment_min": -0.9987667718506387, "alignment_max": 0.9987667718506387, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1348345157582864, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5195908546447754, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.49712397753860255, "step_quality_min": -1.741488570914973, "step_quality_max": 0.5406130074215697, "alignment_signed_mean": -0.29774429572061784, "alignment_abs_mean": 0.7301937358593006, "alignment_min": -0.996844338208582, "alignment_max": 0.996844338208582, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774069239084654, 0.13304392886090788, 1.0409317884741522, 0.155300343479703, 0.7455638014800272, 0.6336370590394979, 0.13609003875931863], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1069644184163665, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5260515213012695, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.5200289772004825, "step_quality_min": -1.7151913346611924, "step_quality_max": 0.5408378008544691, "alignment_signed_mean": -0.40150328113878847, "alignment_abs_mean": 0.7825483011067141, "alignment_min": -0.9970126302709175, "alignment_max": 0.9970126302709175, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1070443383583395, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5228593349456787, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.42585556937343794, "step_quality_min": -1.7285825547937963, "step_quality_max": 0.546429904725359, "alignment_signed_mean": -0.16527549971178274, "alignment_abs_mean": 0.6892204207705673, "alignment_min": -0.9932155262545294, "alignment_max": 0.9932155262545294, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 125, "state": {"door_angle": 1.0381113290786743, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3109460175037384, -0.09496067464351654, 1.1866430044174194, 0.1653728187084198, 0.8911062479019165, 0.4156864285469055, 0.07606838643550873], "right_arm_pose": [0.5002496242523193, -0.10275762528181076, 1.0895142555236816, 0.08445623517036438, 0.44729405641555786, 0.8754948377609253, 0.16218538582324982], "left_arm_joint_positions": [-0.2701303958892822, 0.02404382824897766, -0.3093893229961395, -1.9446933269500732, 0.8783925771713257, 1.6850380897521973, 0.4530266523361206], "right_arm_joint_positions": [0.1756448745727539, 0.24659299850463867, 0.05001738667488098, -2.6509580612182617, -1.2130309343338013, 0.7869033813476562, -1.1411644220352173], "pregrasp_goal_pose": [0.3877429242399142, 0.13304234187535458, 1.0409312223609188, 0.15529929471602819, 0.7455624458184938, 0.6336386443981691, 0.13609128102527432], "pregrasp_position_error": 0.2812740013866028, "pregrasp_orientation_error_deg": 30.925149131591827}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877429242399142, 0.13304234187535458, 1.0409312223609188, 0.15529929471602819, 0.7455624458184938, 0.6336386443981691, 0.13609128102527432], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1197013342342255, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5570201873779297, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.13246698846882118, "step_quality_min": -1.3094986038451755, "step_quality_max": 0.5500354653880039, "alignment_signed_mean": -0.43313961675544554, "alignment_abs_mean": 0.5344085385939715, "alignment_min": -0.9542408671127292, "alignment_max": 0.5687227772785708, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1181436898782877, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5520985126495361, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.1441278671367964, "step_quality_min": -1.284346278751193, "step_quality_max": 0.5455641841063564, "alignment_signed_mean": -0.3324401403622365, "alignment_abs_mean": 0.5718075587183998, "alignment_min": -0.9415233993685808, "alignment_max": 0.5267328962767439, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774292423991417, 0.13304234187535458, 1.0409312223609188, 0.15529929471602819, 0.7455624458184938, 0.6336386443981691, 0.13609128102527432], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348246899264143, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5444872379302979, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.13133704119386927, "step_quality_min": -1.3209102797336967, "step_quality_max": 0.5465414515399729, "alignment_signed_mean": -0.4250405908201089, "alignment_abs_mean": 0.5882730809115861, "alignment_min": -0.9600108155956893, "alignment_max": 0.5943797978235965, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1348528778612739, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.548853874206543, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.16275817854463975, "step_quality_min": -1.283412846506924, "step_quality_max": 0.5467987018183951, "alignment_signed_mean": -0.4153033261377392, "alignment_abs_mean": 0.5495712236164274, "alignment_min": -0.9680222780799224, "alignment_max": 0.5935990222908383, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077429242399142, 0.13304234187535458, 1.0409312223609188, 0.15529929471602819, 0.7455624458184938, 0.6336386443981691, 0.13609128102527432], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1071100728684466, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5492565631866455, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.15615914571254447, "step_quality_min": -1.2983401936637806, "step_quality_max": 0.7225011914596163, "alignment_signed_mean": -0.40946765875178526, "alignment_abs_mean": 0.5558053955271007, "alignment_min": -0.9485989743243834, "alignment_max": 0.5585379890018575, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.107034349983192, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5535144805908203, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.13674452423155337, "step_quality_min": -1.30651291882814, "step_quality_max": 0.613723762986162, "alignment_signed_mean": -0.4020178276144215, "alignment_abs_mean": 0.5497757634367353, "alignment_min": -0.9531415989349784, "alignment_max": 0.5861278428128693, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 126, "state": {"door_angle": 1.0149990320205688, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109744191169739, -0.09494571387767792, 1.186639666557312, 0.16536740958690643, 0.8911070823669434, 0.41568708419799805, 0.07606642693281174], "right_arm_pose": [0.49817806482315063, -0.10785836726427078, 1.0853400230407715, 0.08234737813472748, 0.4363827407360077, 0.8810216188430786, 0.1630646139383316], "left_arm_joint_positions": [-0.27013683319091797, 0.024222642183303833, -0.3093728721141815, -1.9446439743041992, 0.8784006834030151, 1.6850478649139404, 0.45300447940826416], "right_arm_joint_positions": [0.1825542449951172, 0.28190016746520996, 0.0506005585193634, -2.6345324516296387, -1.2003086805343628, 0.7661511898040771, -1.122738003730774], "pregrasp_goal_pose": [0.38774309322884376, 0.13304255253203134, 1.0409320632593348, 0.15529932665548485, 0.7455646122348045, 0.6336360989128593, 0.13609122777758847], "pregrasp_position_error": 0.28125217262136787, "pregrasp_orientation_error_deg": 30.924791986893762}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774309322884376, 0.13304255253203134, 1.0409320632593348, 0.15529932665548485, 0.7455646122348045, 0.6336360989128593, 0.13609122777758847], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196692673565105, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5841825008392334, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.16674006285515897, "step_quality_min": -1.3201762526649488, "step_quality_max": 0.5561700552262765, "alignment_signed_mean": -0.4200761238062759, "alignment_abs_mean": 0.5384538407585234, "alignment_min": -0.9596396783137382, "alignment_max": 0.6488110799470367, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.118081940499186, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5650269985198975, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.1764552914484798, "step_quality_min": -1.3000219262093275, "step_quality_max": 0.5534464657804196, "alignment_signed_mean": -0.4088070941221494, "alignment_abs_mean": 0.5119695064984069, "alignment_min": -0.9494492885328061, "alignment_max": 0.5694195240010326, "door_contact_steps": 27, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774309322884374, 0.13304255253203134, 1.0409320632593348, 0.15529932665548485, 0.7455646122348045, 0.6336360989128593, 0.13609122777758847], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348350902209619, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5773882865905762, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.3442760984906707, "step_quality_min": -1.3140784192944204, "step_quality_max": 0.5469814382804474, "alignment_signed_mean": -0.35327335357554335, "alignment_abs_mean": 0.6209329389422917, "alignment_min": -0.9565565041376283, "alignment_max": 0.9872240739101227, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1348554112416247, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5687572956085205, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.15925689729482392, "step_quality_min": -1.2981651646803072, "step_quality_max": 0.547984000006018, "alignment_signed_mean": -0.4001991820271681, "alignment_abs_mean": 0.5193191991773188, "alignment_min": -0.9879991219537038, "alignment_max": 0.6039554043749693, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077430932288438, 0.13304255253203134, 1.0409320632593348, 0.15529932665548485, 0.7455646122348045, 0.6336360989128593, 0.13609122777758847], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1069268331652755, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5825939178466797, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.16894225242742628, "step_quality_min": -1.3249005289386908, "step_quality_max": 0.5406432531683607, "alignment_signed_mean": -0.3826567091211901, "alignment_abs_mean": 0.5165265630580853, "alignment_min": -0.9620283573285515, "alignment_max": 0.5546860875411136, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1070740820703835, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5845508575439453, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.17681944863307777, "step_quality_min": -1.305640810603329, "step_quality_max": 0.5395473176960165, "alignment_signed_mean": -0.3872872823387605, "alignment_abs_mean": 0.5189189851883648, "alignment_min": -0.9522902974960652, "alignment_max": 0.5187396643146659, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 127, "state": {"door_angle": 0.9907735586166382, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109605312347412, -0.09496363997459412, 1.1866424083709717, 0.16539259254932404, 0.8911062479019165, 0.4156796634197235, 0.07606210559606552], "right_arm_pose": [0.4963315725326538, -0.11258992552757263, 1.0812804698944092, 0.0802847221493721, 0.4245021343231201, 0.8868007063865662, 0.1641245037317276], "left_arm_joint_positions": [-0.27012085914611816, 0.024142295122146606, -0.30936548113822937, -1.944687843322754, 0.8783990144729614, 1.6850645542144775, 0.4530438184738159], "right_arm_joint_positions": [0.18894004821777344, 0.31754088401794434, 0.049229174852371216, -2.6179542541503906, -1.1885234117507935, 0.7451426982879639, -1.1041730642318726], "pregrasp_goal_pose": [0.3877396839310572, 0.1330437786084282, 1.0409325231848001, 0.15530360065891463, 0.745561544883036, 0.6336397344729893, 0.1360862274846227], "pregrasp_position_error": 0.28127174024175455, "pregrasp_orientation_error_deg": 30.926040345799798}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877396839310572, 0.1330437786084282, 1.0409325231848001, 0.15530360065891463, 0.745561544883036, 0.6336397344729893, 0.1360862274846227], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.11971123941145, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5484158992767334, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.025963104544846047, "step_quality_min": -1.3944932382083945, "step_quality_max": 0.5891197773184336, "alignment_signed_mean": -0.28963370842933717, "alignment_abs_mean": 0.5241643913535915, "alignment_min": -0.9536903277990199, "alignment_max": 0.9379830911017952, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.118300129558817, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5976028442382812, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.1664536913463698, "step_quality_min": -1.3262675512980722, "step_quality_max": 0.5674589370965059, "alignment_signed_mean": -0.3530890194414678, "alignment_abs_mean": 0.5637170281803436, "alignment_min": -0.9627195484091375, "alignment_max": 0.5921323792584288, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36773968393105716, 0.1330437786084282, 1.0409325231848001, 0.15530360065891463, 0.745561544883036, 0.6336397344729893, 0.1360862274846227], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.13491161651036, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.6015584468841553, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.1962428265347608, "step_quality_min": -1.3102602946065225, "step_quality_max": 0.567697581735765, "alignment_signed_mean": -0.35578168799795323, "alignment_abs_mean": 0.5660150038641608, "alignment_min": -0.9769890907876178, "alignment_max": 0.5364689812195267, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.134996564418527, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.6039717197418213, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.42169797262319203, "step_quality_min": -1.304910918305782, "step_quality_max": 0.5567618952512932, "alignment_signed_mean": -0.3717051311017955, "alignment_abs_mean": 0.6586225744899934, "alignment_min": -0.9910868048846301, "alignment_max": 0.9175487806162075, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077396839310572, 0.1330437786084282, 1.0409325231848001, 0.15530360065891463, 0.745561544883036, 0.6336397344729893, 0.1360862274846227], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070389446577984, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5087313652038574, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.15318343141010324, "step_quality_min": -1.5719446853075363, "step_quality_max": 0.6310737472376334, "alignment_signed_mean": -0.2812997909671332, "alignment_abs_mean": 0.5847579549060288, "alignment_min": -0.9930393726957223, "alignment_max": 0.9930393726957223, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1070495431214686, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5508229732513428, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.33033951903598385, "step_quality_min": -1.3353077384995784, "step_quality_max": 0.8789724022163565, "alignment_signed_mean": -0.4096314858027237, "alignment_abs_mean": 0.6107301145708092, "alignment_min": -0.9672904295784385, "alignment_max": 0.9025763004427685, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 128, "state": {"door_angle": 0.9710484743118286, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109433352947235, -0.09494678676128387, 1.186669945716858, 0.16535979509353638, 0.891101062297821, 0.41569745540618896, 0.0760965645313263], "right_arm_pose": [0.4945567846298218, -0.11734028905630112, 1.0771514177322388, 0.07795584201812744, 0.41193053126335144, 0.8927069306373596, 0.16525888442993164], "left_arm_joint_positions": [-0.27013444900512695, 0.0241258442401886, -0.3093814551830292, -1.944725513458252, 0.8784557580947876, 1.6850249767303467, 0.45302069187164307], "right_arm_joint_positions": [0.1955394744873047, 0.3535630702972412, 0.04739263653755188, -2.601203441619873, -1.1766389608383179, 0.7232325077056885, -1.085868000984192], "pregrasp_goal_pose": [0.38774308006395086, 0.13304246460019034, 1.0409294655820198, 0.15529848929941695, 0.745557569675354, 0.6336443683384495, 0.13609226280015332], "pregrasp_position_error": 0.281278486704755, "pregrasp_orientation_error_deg": 30.923879379581205}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774308006395086, 0.13304246460019034, 1.0409294655820198, 0.15529848929941695, 0.745557569675354, 0.6336443683384495, 0.13609226280015332], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196982107501638, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5481894016265869, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.04537047487575915, "step_quality_min": -1.5367701243364191, "step_quality_max": 0.6164075990513576, "alignment_signed_mean": -0.18858583706912183, "alignment_abs_mean": 0.526952779195684, "alignment_min": -0.9957568569508953, "alignment_max": 0.9957568569508953, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1182754903873044, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5455169677734375, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.23857618878219214, "step_quality_min": -1.5960078867754277, "step_quality_max": 0.5629944295549646, "alignment_signed_mean": -0.2191159156891204, "alignment_abs_mean": 0.5808789079066816, "alignment_min": -0.9750582000166308, "alignment_max": 0.9750582000166308, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774308006395084, 0.13304246460019034, 1.0409294655820198, 0.15529848929941695, 0.745557569675354, 0.6336443683384495, 0.13609226280015332], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134863957223867, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5703210830688477, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.25526244410062143, "step_quality_min": -1.5428134546135492, "step_quality_max": 0.5656279395934808, "alignment_signed_mean": -0.1878459008441167, "alignment_abs_mean": 0.5910764412335292, "alignment_min": -0.9814955742366105, "alignment_max": 0.9814955742366105, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1348650432784886, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5823280811309814, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.29231877863719846, "step_quality_min": -1.5645312080324174, "step_quality_max": 0.5613144312564552, "alignment_signed_mean": -0.21875577739841184, "alignment_abs_mean": 0.6110650631078678, "alignment_min": -0.9753049107324888, "alignment_max": 0.9753049107324888, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077430800639509, 0.13304246460019034, 1.0409294655820198, 0.15529848929941695, 0.745557569675354, 0.6336443683384495, 0.13609226280015332], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1071124581750278, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5277149677276611, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.2469454922483336, "step_quality_min": -1.6278655703437126, "step_quality_max": 0.5513180981151873, "alignment_signed_mean": -0.17639546268650064, "alignment_abs_mean": 0.5991726252587329, "alignment_min": -0.9866862829423012, "alignment_max": 0.9866862829423012, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1071594724874074, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5370714664459229, "door_quality": 0.01607052310209736, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.022957890145853373, "step_quality_min": -1.526522751010463, "step_quality_max": 0.5599459523153911, "alignment_signed_mean": -0.21903569444505974, "alignment_abs_mean": 0.5151276089128821, "alignment_min": -0.9997244248757157, "alignment_max": 0.9997244248757157, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 129, "state": {"door_angle": 0.9478532075881958, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109305799007416, -0.09493306279182434, 1.1865921020507812, 0.16539445519447327, 0.891099750995636, 0.4156993329524994, 0.0760270431637764], "right_arm_pose": [0.4927021861076355, -0.12202265113592148, 1.0730013847351074, 0.07563124597072601, 0.39925867319107056, 0.8984617590904236, 0.16624973714351654], "left_arm_joint_positions": [-0.27013182640075684, 0.023981362581253052, -0.30936262011528015, -1.9448599815368652, 0.8784161806106567, 1.6850342750549316, 0.453022837638855], "right_arm_joint_positions": [0.20254850387573242, 0.38935089111328125, 0.04470446705818176, -2.5838160514831543, -1.1651021242141724, 0.70212721824646, -1.0680903196334839], "pregrasp_goal_pose": [0.38774251770229284, 0.13304245594160663, 1.0409308241422, 0.15529903362304445, 0.7455611416329868, 0.633640175011301, 0.13609159729503378], "pregrasp_position_error": 0.2812296549309252, "pregrasp_orientation_error_deg": 30.92492874765185}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774251770229284, 0.13304245594160663, 1.0409308241422, 0.15529903362304445, 0.7455611416329868, 0.633640175011301, 0.13609159729503378], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119645506141754, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5616545677185059, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.24847130881164317, "step_quality_min": -1.5875070961989735, "step_quality_max": 0.6011882109332115, "alignment_signed_mean": -0.17912608530858282, "alignment_abs_mean": 0.536282588494214, "alignment_min": -0.9822360819450988, "alignment_max": 0.9822360819450988, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1181135793991446, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5609853267669678, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.24716122223188589, "step_quality_min": -1.601873217205804, "step_quality_max": 0.5541903641489426, "alignment_signed_mean": -0.09549236788902625, "alignment_abs_mean": 0.6165720228581492, "alignment_min": -0.9787570720153658, "alignment_max": 0.9787570720153658, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677425177022928, 0.13304245594160663, 1.0409308241422, 0.15529903362304445, 0.7455611416329868, 0.633640175011301, 0.13609159729503378], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348228530818778, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.6067695617675781, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.27724362223577304, "step_quality_min": -1.5916395394009104, "step_quality_max": 0.5815301324560268, "alignment_signed_mean": -0.1767742698450689, "alignment_abs_mean": 0.5568637878624483, "alignment_min": -0.9881025240654622, "alignment_max": 0.9881025240654622, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.134779469260501, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5975830554962158, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.24075684230722136, "step_quality_min": -1.599756775412414, "step_quality_max": 0.562662901012198, "alignment_signed_mean": -0.19611754232548426, "alignment_abs_mean": 0.5370047625470665, "alignment_min": -0.9839734982163204, "alignment_max": 0.9839734982163204, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774251770229286, 0.13304245594160663, 1.0409308241422, 0.15529903362304445, 0.7455611416329868, 0.633640175011301, 0.13609159729503378], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070640016788678, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5504398345947266, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.3489451462812316, "step_quality_min": -1.5666762428532484, "step_quality_max": 0.5591344650059633, "alignment_signed_mean": -0.10200776368637077, "alignment_abs_mean": 0.6026457972030508, "alignment_min": -0.9760945495360148, "alignment_max": 0.9760945495360148, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.10697596168798, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5503723621368408, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.14286971688502365, "step_quality_min": -1.6788606310718013, "step_quality_max": 0.5630830722147694, "alignment_signed_mean": -0.1492225290816957, "alignment_abs_mean": 0.5545423880012333, "alignment_min": -0.9863008308252371, "alignment_max": 0.9863008308252371, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 130, "state": {"door_angle": 0.9254809617996216, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.31096959114074707, -0.09495477378368378, 1.18660306930542, 0.16539156436920166, 0.8911044597625732, 0.41568881273269653, 0.07603500038385391], "right_arm_pose": [0.49075421690940857, -0.12658432126045227, 1.0685654878616333, 0.0732557475566864, 0.3868288993835449, 0.9039271473884583, 0.16707132756710052], "left_arm_joint_positions": [-0.270125150680542, 0.024337559938430786, -0.3093690574169159, -1.944556713104248, 0.878388524055481, 1.6850357055664062, 0.45304787158966064], "right_arm_joint_positions": [0.20973515510559082, 0.4250068664550781, 0.04169014096260071, -2.5660104751586914, -1.1536377668380737, 0.6818969249725342, -1.0508366823196411], "pregrasp_goal_pose": [0.3877430392314798, 0.133042066069181, 1.0409280444267313, 0.15529427373733293, 0.7455587359896101, 0.6336429670317779, 0.1360972081459962], "pregrasp_position_error": 0.2812435495936571, "pregrasp_orientation_error_deg": 30.926569125475815}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7638888888888888, "tray_projected_count": 288, "tray_visible_count": 220}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877430392314798, 0.133042066069181, 1.0409280444267313, 0.15529427373733293, 0.7455587359896101, 0.6336429670317779, 0.1360972081459962], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119669037204519, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.579392671585083, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.36127009974509505, "step_quality_min": -1.6076584521370627, "step_quality_max": 0.5628698927463157, "alignment_signed_mean": -0.09701957491676373, "alignment_abs_mean": 0.545398888694746, "alignment_min": -0.9670791534160434, "alignment_max": 0.9670791534160434, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1181687206482889, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5902936458587646, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.22711731893005455, "step_quality_min": -1.6394837644845572, "step_quality_max": 0.5913468125772988, "alignment_signed_mean": -0.11504415391909648, "alignment_abs_mean": 0.5218173132695575, "alignment_min": -0.9859170845645054, "alignment_max": 0.9859170845645054, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677430392314798, 0.133042066069181, 1.0409280444267313, 0.15529427373733293, 0.7455587359896101, 0.6336429670317779, 0.1360972081459962], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348573255708536, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.6206340789794922, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.3863276053456723, "step_quality_min": -1.568781832818869, "step_quality_max": 0.5702015197891729, "alignment_signed_mean": -0.05886888907021287, "alignment_abs_mean": 0.5981689089938116, "alignment_min": -0.9849013814706532, "alignment_max": 0.9849013814706532, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.134903853082732, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.6349756717681885, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.2541720043852131, "step_quality_min": -1.59087940231903, "step_quality_max": 0.5715428298884719, "alignment_signed_mean": -0.11546016226604418, "alignment_abs_mean": 0.4891276711462314, "alignment_min": -0.9876868689312169, "alignment_max": 0.9876868689312169, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.4077430392314798, 0.133042066069181, 1.0409280444267313, 0.15529427373733293, 0.7455587359896101, 0.6336429670317779, 0.1360972081459962], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.107038889678223, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.572974681854248, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.33976305981243776, "step_quality_min": -1.6501827319437754, "step_quality_max": 0.5564851503724015, "alignment_signed_mean": -0.07897397736051864, "alignment_abs_mean": 0.5605553632348184, "alignment_min": -0.9818374274134853, "alignment_max": 0.9818374274134853, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1070832944842488, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5735259056091309, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.4171949722891643, "step_quality_min": -1.6841138013723795, "step_quality_max": 0.5625048200042387, "alignment_signed_mean": -0.048723451171924254, "alignment_abs_mean": 0.5959697894312007, "alignment_min": -0.988596815069593, "alignment_max": 0.988596815069593, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 131, "state": {"door_angle": 0.9018386602401733, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3109689950942993, -0.09494657069444656, 1.186596155166626, 0.16539710760116577, 0.8911039233207703, 0.41568899154663086, 0.07602868229150772], "right_arm_pose": [0.4892048239707947, -0.1312454342842102, 1.0639326572418213, 0.07079733908176422, 0.37403202056884766, 0.9092788100242615, 0.16822615265846252], "left_arm_joint_positions": [-0.27012062072753906, 0.024220019578933716, -0.3093683421611786, -1.9448132514953613, 0.8784366846084595, 1.6850457191467285, 0.4530442953109741], "right_arm_joint_positions": [0.21706461906433105, 0.4607884883880615, 0.037508755922317505, -2.5477566719055176, -1.1417618989944458, 0.6615161895751953, -1.0342439413070679], "pregrasp_goal_pose": [0.3877432398363829, 0.13304289450941625, 1.040931038473689, 0.15529830317583346, 0.7455629221353427, 0.6336380774480808, 0.1360924427571786], "pregrasp_position_error": 0.2812326565689477, "pregrasp_orientation_error_deg": 30.925845069550046}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7673611111111112, "tray_projected_count": 288, "tray_visible_count": 221}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877432398363829, 0.13304289450941625, 1.040931038473689, 0.15529830317583346, 0.7455629221353427, 0.6336380774480808, 0.1360924427571786], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196435248110512, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.6108837127685547, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.26014963859496015, "step_quality_min": -1.6072601323619735, "step_quality_max": 0.5769200996245615, "alignment_signed_mean": -0.14366466104137485, "alignment_abs_mean": 0.5164648141854542, "alignment_min": -0.9745129600908851, "alignment_max": 0.9745129600908851, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1180975338428492, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.6144640445709229, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.29730152162539686, "step_quality_min": -1.6138770998358958, "step_quality_max": 0.5676506087128302, "alignment_signed_mean": -0.042699525604886004, "alignment_abs_mean": 0.603973023893607, "alignment_min": -0.9784843021846884, "alignment_max": 0.9784843021846884, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677432398363829, 0.13304289450941625, 1.040931038473689, 0.15529830317583346, 0.7455629221353427, 0.6336380774480808, 0.1360924427571786], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348074898656384, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.6538922786712646, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.4507376324761279, "step_quality_min": -1.6704557642302273, "step_quality_max": 0.5890213399043517, "alignment_signed_mean": 0.00935990611440109, "alignment_abs_mean": 0.6687007363195465, "alignment_min": -0.9909845087212489, "alignment_max": 0.9909845087212489, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.134787237495462, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.6523468494415283, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.4313671717032884, "step_quality_min": -1.5713697297681852, "step_quality_max": 0.5818031645484297, "alignment_signed_mean": -0.05445865155129653, "alignment_abs_mean": 0.6188549676234235, "alignment_min": -0.9848776738467535, "alignment_max": 0.9848776738467535, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774323983638294, 0.13304289450941625, 1.040931038473689, 0.15529830317583346, 0.7455629221353427, 0.6336380774480808, 0.1360924427571786], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070164378053307, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5966155529022217, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.42508993282925717, "step_quality_min": -1.6295030686935452, "step_quality_max": 0.5724405295141378, "alignment_signed_mean": 0.051834874801905496, "alignment_abs_mean": 0.6617839517745984, "alignment_min": -0.9740040265236605, "alignment_max": 0.9690501277191175, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1069337672960204, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.5959246158599854, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.42321521646725524, "step_quality_min": -1.6305948300952324, "step_quality_max": 0.5772043755104974, "alignment_signed_mean": 0.04822271930953608, "alignment_abs_mean": 0.6698418275659345, "alignment_min": -0.9829216416351563, "alignment_max": 0.9829216416351563, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047480821609497, "final_height": 1.047480821609497, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047480821609497}], "score": 0.0007303555806477858}}
+{"frame_index": 132, "state": {"door_angle": 0.8763710260391235, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31095364689826965, -0.09494808316230774, 1.1866573095321655, 0.16536211967468262, 0.8911095261573792, 0.4156859219074249, 0.07605516165494919], "right_arm_pose": [0.4873846173286438, -0.1359184980392456, 1.0589789152145386, 0.0681789293885231, 0.3619495928287506, 0.9142290353775024, 0.16890665888786316], "left_arm_joint_positions": [-0.2701380252838135, 0.024227648973464966, -0.30938050150871277, -1.944608449935913, 0.8784490823745728, 1.6850335597991943, 0.4530245065689087], "right_arm_joint_positions": [0.22509050369262695, 0.4965364933013916, 0.033494025468826294, -2.528925895690918, -1.1301454305648804, 0.6431183815002441, -1.0183175802230835], "pregrasp_goal_pose": [0.38774028880463185, 0.1330436347379148, 1.0409310913862568, 0.15530034320810168, 0.7455605868198881, 0.6336408365164659, 0.13609006238128932], "pregrasp_position_error": 0.281269519254148, "pregrasp_orientation_error_deg": 30.925983252415527}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7638888888888888, "tray_projected_count": 288, "tray_visible_count": 220}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774028880463185, 0.1330436347379148, 1.0409310913862568, 0.15530034320810168, 0.7455605868198881, 0.6336408365164659, 0.13609006238128932], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1197382507494407, "base_score": 0.28303360558459273, "final_score": 0.28303360558459273, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.06909632682800293, "door_quality": 0.41108981632460107, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.15869973760657302, "step_quality_min": -0.7222745340824479, "step_quality_max": 0.6023411788301074, "alignment_signed_mean": -0.026870927911965912, "alignment_abs_mean": 0.5406258789633366, "alignment_min": -0.9932814056003304, "alignment_max": 0.9932814056003304, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1182555682113313, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.6345040798187256, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.3363094798587832, "step_quality_min": -1.5939802977596131, "step_quality_max": 0.6023683979427231, "alignment_signed_mean": -0.07691079344750956, "alignment_abs_mean": 0.6221432130478294, "alignment_min": -0.9957318754965285, "alignment_max": 0.9957318754965285, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 1, "reliability": 0.5, "base_score": 0.28303360558459273, "score_before_reliability": 0.28303360558459273, "median_path_length": 1.1197382507494407, "door_quality": 0.41108981632460107, "door_open_delta": 0.06909632682800293, "step_quality_mean": 0.15869973760657302, "alignment_abs_mean": 0.5406258789633366, "alignment_signed_mean": -0.026870927911965912, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36774028880463183, 0.1330436347379148, 1.0409310913862568, 0.15530034320810168, 0.7455605868198881, 0.6336408365164659, 0.13609006238128932], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1349373309459376, "base_score": 0.277489699579047, "final_score": 0.277489699579047, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0755009651184082, "door_quality": 0.4050847309764197, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.1501210442520282, "step_quality_min": -0.594619156257208, "step_quality_max": 0.5848370550167508, "alignment_signed_mean": -0.09932510995843258, "alignment_abs_mean": 0.6166662294862064, "alignment_min": -0.9997699152741035, "alignment_max": 0.9997699152741035, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1349857789988826, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.6945009231567383, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.4537952212411242, "step_quality_min": -1.5904609754112549, "step_quality_max": 0.5985542143501031, "alignment_signed_mean": -0.05344409088233268, "alignment_abs_mean": 0.6147177876015131, "alignment_min": -0.996497995084077, "alignment_max": 0.996497995084077, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 1, "reliability": 0.5, "base_score": 0.277489699579047, "score_before_reliability": 0.277489699579047, "median_path_length": 1.1349373309459376, "door_quality": 0.4050847309764197, "door_open_delta": 0.0755009651184082, "step_quality_mean": 0.1501210442520282, "alignment_abs_mean": 0.6166662294862064, "alignment_signed_mean": -0.09932510995843258, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774028880463187, 0.1330436347379148, 1.0409310913862568, 0.15530034320810168, 0.7455605868198881, 0.6336408365164659, 0.13609006238128932], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1071006039219684, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.6219990253448486, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.37609213136595365, "step_quality_min": -1.6092710424938033, "step_quality_max": 0.576748440084069, "alignment_signed_mean": -0.055718527725191785, "alignment_abs_mean": 0.6329629479336392, "alignment_min": -0.9744276922002094, "alignment_max": 0.9744276922002094, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1070714046170405, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.6221609115600586, "door_quality": 0.0, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": -0.2898056533359501, "step_quality_min": -1.6811855400135587, "step_quality_max": 0.5736605298872947, "alignment_signed_mean": -0.1572539875304764, "alignment_abs_mean": 0.6423055225430181, "alignment_min": -0.9908522211517599, "alignment_max": 0.9908522211517599, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 133, "state": {"door_angle": 0.8514057397842407, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109470307826996, -0.09496451914310455, 1.1866624355316162, 0.16536280512809753, 0.8911049962043762, 0.41569089889526367, 0.07607997953891754], "right_arm_pose": [0.4855154752731323, -0.1408604085445404, 1.0537282228469849, 0.06602099537849426, 0.3501962423324585, 0.9187827110290527, 0.16982987523078918], "left_arm_joint_positions": [-0.27013111114501953, 0.02427414059638977, -0.30937907099723816, -1.9446580410003662, 0.8784197568893433, 1.6850488185882568, 0.4530147314071655], "right_arm_joint_positions": [0.2331082820892334, 0.5323398113250732, 0.029615432024002075, -2.5083718299865723, -1.116550087928772, 0.6251692771911621, -1.0027269124984741], "pregrasp_goal_pose": [0.38774842345358673, 0.13303772505792794, 1.0409310668832288, 0.15529628869581352, 0.745564714670219, 0.6336359756476113, 0.1360947071752648], "pregrasp_position_error": 0.281284747338044, "pregrasp_orientation_error_deg": 30.924019585835367}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7638888888888888, "tray_projected_count": 288, "tray_visible_count": 220}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774842345358673, 0.13303772505792794, 1.0409310668832288, 0.15529628869581352, 0.745564714670219, 0.6336359756476113, 0.1360947071752648], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196805114622668, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.7447981834411621, "door_quality": 0.05605038649166697, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08007198070238139, "step_quality_min": -1.3771436553353125, "step_quality_max": 0.5835966976648611, "alignment_signed_mean": -0.10358759755657755, "alignment_abs_mean": 0.2719712747255771, "alignment_min": -0.9884434212369559, "alignment_max": 0.8654200319775964, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1182131676904359, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.7422199249267578, "door_quality": 0.0, "collision_names": ["oven_door", "oven_knob_11"], "bad_collision_names": [], "step_quality_mean": -0.35339220266837806, "step_quality_min": -1.7398356561111221, "step_quality_max": 0.5772474443645176, "alignment_signed_mean": -0.1359960187710739, "alignment_abs_mean": 0.5036074247186382, "alignment_min": -0.9882635059658392, "alignment_max": 0.9882635059658392, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3677484234535867, 0.13303772505792794, 1.0409310668832288, 0.15529628869581352, 0.745564714670219, 0.6336359756476113, 0.1360947071752648], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134899853980461, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.7365632057189941, "door_quality": 0.0, "collision_names": ["oven_door", "oven_knob_11"], "bad_collision_names": [], "step_quality_mean": -0.39822191375171906, "step_quality_min": -1.687629233624174, "step_quality_max": 0.5916784120969562, "alignment_signed_mean": -0.07337567613370974, "alignment_abs_mean": 0.5333770447787026, "alignment_min": -0.985912142292919, "alignment_max": 0.985912142292919, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1348720621169615, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.7335453033447266, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.25556693518107076, "step_quality_min": -1.725937974386716, "step_quality_max": 0.5968586366093028, "alignment_signed_mean": -0.06731382193513262, "alignment_abs_mean": 0.44258317388770063, "alignment_min": -0.9868501401622397, "alignment_max": 0.9868501401622397, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.40774842345358675, 0.13303772505792794, 1.0409310668832288, 0.15529628869581352, 0.745564714670219, 0.6336359756476113, 0.1360947071752648], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070424442375792, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.7303853034973145, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.3630711972728986, "step_quality_min": -1.7550394406909247, "step_quality_max": 0.5795334129197706, "alignment_signed_mean": -0.029500362637557252, "alignment_abs_mean": 0.49802284467856256, "alignment_min": -0.9876785285986609, "alignment_max": 0.9876785285986609, "door_contact_steps": 27, "path_steps": 28}, {"path_found": true, "path_length": 1.1070427534709526, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.7302722930908203, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.32851852559675515, "step_quality_min": -1.767767872180643, "step_quality_max": 0.8326264882101337, "alignment_signed_mean": -0.03657330906000072, "alignment_abs_mean": 0.5011194302502157, "alignment_min": -0.9838290818438599, "alignment_max": 0.9864444322255039, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 134, "state": {"door_angle": 0.8251837491989136, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.31096217036247253, -0.09497162699699402, 1.1866625547409058, 0.16538268327713013, 0.8911036849021912, 0.41568511724472046, 0.07608316093683243], "right_arm_pose": [0.4833822548389435, -0.14595521986484528, 1.047389268875122, 0.06432771682739258, 0.34102562069892883, 0.9222428798675537, 0.17038659751415253], "left_arm_joint_positions": [-0.2701375484466553, 0.024270087480545044, -0.3093845546245575, -1.9445698261260986, 0.8784517049789429, 1.6850836277008057, 0.45306265354156494], "right_arm_joint_positions": [0.24141526222229004, 0.5679242610931396, 0.027144938707351685, -2.485842704772949, -1.1008938550949097, 0.6114363670349121, -0.9875108003616333], "pregrasp_goal_pose": [0.387742238114518, 0.133043363115874, 1.040931101302694, 0.15529719396452146, 0.7455653636171288, 0.6336352003982721, 0.13609372850152018], "pregrasp_position_error": 0.2812893013276432, "pregrasp_orientation_error_deg": 30.92434147829132}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7638888888888888, "tray_projected_count": 288, "tray_visible_count": 220}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.4094565991174299, "strict_length": 0.0, "assisted_length": 1.1349267082142471, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.08548295497894287, "door_quality": 0.5977304026312262, "step_quality_mean": 0.4253291466160376, "step_quality_min": -0.24928631643805277, "step_quality_max": 0.7900659629311826, "alignment_signed_mean": -0.07917370870323265, "alignment_abs_mean": 0.3778784567480057, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.367742238114518, 0.133043363115874, 1.040931101302694, 0.15529719396452146, 0.7455653636171288, 0.6336352003982721, 0.13609372850152018], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.387742238114518, 0.133043363115874, 1.040931101302694, 0.15529719396452146, 0.7455653636171288, 0.6336352003982721, 0.13609372850152018], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1197189127860714, "base_score": 0.41119232545592355, "final_score": 0.41119232545592355, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09952545166015625, "door_quality": 0.5972290378375527, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.42461291119650385, "step_quality_min": -0.20242158585497538, "step_quality_max": 0.830646578182864, "alignment_signed_mean": -0.08329968081908985, "alignment_abs_mean": 0.3776584936505462, "alignment_min": -0.9975836772230912, "alignment_max": 0.9975836772230912, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1181598093616627, "base_score": 0.3881127463553708, "final_score": 0.3881127463553708, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09727072715759277, "door_quality": 0.5634146270757913, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.37630661010827327, "step_quality_min": -0.4536240615987157, "step_quality_max": 0.8655698270617272, "alignment_signed_mean": -0.04667515384044803, "alignment_abs_mean": 0.452976145351347, "alignment_min": -0.9920444873234049, "alignment_max": 0.9920444873234049, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.3996525359056472, "score_before_reliability": 0.3996525359056472, "median_path_length": 1.118939361073867, "door_quality": 0.5803218324566719, "door_open_delta": 0.09839808940887451, "step_quality_mean": 0.40045976065238853, "alignment_abs_mean": 0.41531731950094664, "alignment_signed_mean": -0.06498741732976894, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.3996525359056472, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.367742238114518, 0.133043363115874, 1.040931101302694, 0.15529719396452146, 0.7455653636171288, 0.6336352003982721, 0.13609372850152018], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1349250626302156, "base_score": 0.40555872798001485, "final_score": 0.40555872798001485, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.08133435249328613, "door_quality": 0.5920399086288646, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.41719986946980653, "step_quality_min": -0.24928631643805277, "step_quality_max": 0.7900659629311826, "alignment_signed_mean": -0.06277283225484477, "alignment_abs_mean": 0.3952741676382976, "alignment_min": -0.9931147566972054, "alignment_max": 0.9931147566972054, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1349283537982786, "base_score": 0.4133544702548449, "final_score": 0.4133544702548449, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.08963155746459961, "door_quality": 0.603420896633588, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4334584237622686, "step_quality_min": -0.24109965078104206, "step_quality_max": 0.7498654188558826, "alignment_signed_mean": -0.09557458515162054, "alignment_abs_mean": 0.3604827458577138, "alignment_min": -0.9804575585924824, "alignment_max": 0.9804575585924824, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4094565991174299, "score_before_reliability": 0.4094565991174299, "median_path_length": 1.1349267082142471, "door_quality": 0.5977304026312262, "door_open_delta": 0.08548295497894287, "step_quality_mean": 0.4253291466160376, "alignment_abs_mean": 0.3778784567480057, "alignment_signed_mean": -0.07917370870323265, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.4094565991174299, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774223811451804, 0.133043363115874, 1.040931101302694, 0.15529719396452146, 0.7455653636171288, 0.6336352003982721, 0.13609372850152018], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070704814647692, "base_score": 0.399268326092759, "final_score": 0.399268326092759, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.06908917427062988, "door_quality": 0.5774703973950417, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.3963862819929167, "step_quality_min": -0.4635730008298377, "step_quality_max": 0.6501463260249767, "alignment_signed_mean": -0.06279164831392181, "alignment_abs_mean": 0.3900599329804895, "alignment_min": -0.9878593029422824, "alignment_max": 0.9878593029422824, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1070405295358212, "base_score": 0.41922524830674207, "final_score": 0.41922524830674207, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.08910131454467773, "door_quality": 0.6063284711220036, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4376121016028623, "step_quality_min": -0.2074687305689349, "step_quality_max": 0.8777162849196978, "alignment_signed_mean": -0.018606196215787123, "alignment_abs_mean": 0.3829320414257236, "alignment_min": -0.9939279610935831, "alignment_max": 0.9939279610935831, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4092467871997505, "score_before_reliability": 0.4092467871997505, "median_path_length": 1.1070555055002953, "door_quality": 0.5918994342585226, "door_open_delta": 0.07909524440765381, "step_quality_mean": 0.41699919179788947, "alignment_abs_mean": 0.3864959872031066, "alignment_signed_mean": -0.04069892226485447, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.4092467871997505, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 135, "state": {"door_angle": 0.7936841249465942, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31095990538597107, -0.09497706592082977, 1.1866588592529297, 0.16537566483020782, 0.8911126852035522, 0.41567161679267883, 0.07606744021177292], "right_arm_pose": [0.4816298484802246, -0.15100327134132385, 1.0407832860946655, 0.0627380982041359, 0.33299580216407776, 0.9251633286476135, 0.17102815210819244], "left_arm_joint_positions": [-0.27013707160949707, 0.02417019009590149, -0.30937549471855164, -1.9447014331817627, 0.878386378288269, 1.6850519180297852, 0.4530390501022339], "right_arm_joint_positions": [0.2496352195739746, 0.6020526885986328, 0.025128155946731567, -2.463442325592041, -1.0856703519821167, 0.5997700691223145, -0.9738062620162964], "pregrasp_goal_pose": [0.3877430792610984, 0.1330433262505159, 1.04093098120517, 0.1552972619837876, 0.7455634729524706, 0.6336374225876714, 0.13609366229123995], "pregrasp_position_error": 0.2812926758318017, "pregrasp_orientation_error_deg": 30.926867971782563}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.42781415542277085, "strict_length": 0.0, "assisted_length": 1.1071037263773025, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.09351444244384766, "door_quality": 0.6187638122023775, "step_quality_mean": 0.45537687457482506, "step_quality_min": -0.23974895087653403, "step_quality_max": 0.7646636675858395, "alignment_signed_mean": -0.04552794558049238, "alignment_abs_mean": 0.3190633931859538, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.40774307926109843, 0.1330433262505159, 1.04093098120517, 0.1552972619837876, 0.7455634729524706, 0.6336374225876714, 0.13609366229123995], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877430792610984, 0.1330433262505159, 1.04093098120517, 0.1552972619837876, 0.7455634729524706, 0.6336374225876714, 0.13609366229123995], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1197601153650443, "base_score": 0.43145832904811654, "final_score": 0.43145832904811654, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0763697624206543, "door_quality": 0.626672643956059, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.46667520565151294, "step_quality_min": -0.13493355785008165, "step_quality_max": 0.6939639459219056, "alignment_signed_mean": -0.08526813072509103, "alignment_abs_mean": 0.23033285817291846, "alignment_min": -0.9382895055918128, "alignment_max": 0.9382895055918128, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1183014775093778, "base_score": 0.4232941994527413, "final_score": 0.4232941994527413, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.07913732528686523, "door_quality": 0.6145157771444172, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4493082530634531, "step_quality_min": -0.14494260628090827, "step_quality_max": 0.7492956124753349, "alignment_signed_mean": -0.04190493727855675, "alignment_abs_mean": 0.25760512741356906, "alignment_min": -0.9345045572792485, "alignment_max": 0.9345045572792485, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.42737626425042896, "score_before_reliability": 0.42737626425042896, "median_path_length": 1.119030796437211, "door_quality": 0.6205942105502381, "door_open_delta": 0.07775354385375977, "step_quality_mean": 0.457991729357483, "alignment_abs_mean": 0.24396899279324374, "alignment_signed_mean": -0.06358653400182389, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.42737626425042896, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677430792610984, 0.1330433262505159, 1.04093098120517, 0.1552972619837876, 0.7455634729524706, 0.6336374225876714, 0.13609366229123995], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1349536859715161, "base_score": 0.41590986624689213, "final_score": 0.41590986624689213, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.08007168769836426, "door_quality": 0.607156427890823, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4387948969868901, "step_quality_min": -0.19453246331714708, "step_quality_max": 0.7165612050560868, "alignment_signed_mean": -0.020792411062449796, "alignment_abs_mean": 0.30943155423044416, "alignment_min": -0.9639773684777205, "alignment_max": 0.9639773684777205, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1350170941118694, "base_score": 0.41989973695180177, "final_score": 0.41989973695180177, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.08308863639831543, "door_quality": 0.6129939047689972, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.44713414966999604, "step_quality_min": -0.24203970861304402, "step_quality_max": 0.6865785308914264, "alignment_signed_mean": -0.020908766964716385, "alignment_abs_mean": 0.2646433550056124, "alignment_min": -0.9459314578677405, "alignment_max": 0.9459314578677405, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.41790480159934695, "score_before_reliability": 0.41790480159934695, "median_path_length": 1.1349853900416926, "door_quality": 0.6100751663299101, "door_open_delta": 0.08158016204833984, "step_quality_mean": 0.44296452332844305, "alignment_abs_mean": 0.2870374546180283, "alignment_signed_mean": -0.02085058901358309, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.41790480159934695, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774307926109843, 0.1330433262505159, 1.04093098120517, 0.1552972619837876, 0.7455634729524706, 0.6336374225876714, 0.13609366229123995], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070358045118935, "base_score": 0.4244943592160143, "final_score": 0.4244943592160143, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09539604187011719, "door_quality": 0.6139482568928034, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.44849750984686204, "step_quality_min": -0.23974895087653403, "step_quality_max": 0.7646636675858395, "alignment_signed_mean": -0.06340076349684555, "alignment_abs_mean": 0.33380496925994646, "alignment_min": -0.9750074520194831, "alignment_max": 0.9750074520194831, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1071716482427114, "base_score": 0.4311339516295274, "final_score": 0.4311339516295274, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09163284301757812, "door_quality": 0.6235793675119516, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4622562393027881, "step_quality_min": -0.07585476560820115, "step_quality_max": 0.7154657204937362, "alignment_signed_mean": -0.027655127664139204, "alignment_abs_mean": 0.30432181711196116, "alignment_min": -0.9448865538592743, "alignment_max": 0.9448865538592743, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.42781415542277085, "score_before_reliability": 0.42781415542277085, "median_path_length": 1.1071037263773025, "door_quality": 0.6187638122023775, "door_open_delta": 0.09351444244384766, "step_quality_mean": 0.45537687457482506, "alignment_abs_mean": 0.3190633931859538, "alignment_signed_mean": -0.04552794558049238, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.42781415542277085, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 136, "state": {"door_angle": 0.7708700895309448, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.3109720051288605, -0.09495805203914642, 1.186622142791748, 0.16538015007972717, 0.8911088705062866, 0.41568076610565186, 0.07605216652154922], "right_arm_pose": [0.47988373041152954, -0.1553037166595459, 1.0350427627563477, 0.06155640631914139, 0.32642585039138794, 0.927500307559967, 0.17146481573581696], "left_arm_joint_positions": [-0.27013587951660156, 0.024146586656570435, -0.309374064207077, -1.9446475505828857, 0.8783649206161499, 1.685065746307373, 0.45304977893829346], "right_arm_joint_positions": [0.2564678192138672, 0.6308803558349609, 0.022981911897659302, -2.4438061714172363, -1.0728510618209839, 0.5902712345123291, -0.9627546072006226], "pregrasp_goal_pose": [0.3877399958139306, 0.1330440670121033, 1.0409279452716753, 0.15529449041211554, 0.7455585705465625, 0.6336431630235136, 0.13609695472627079], "pregrasp_position_error": 0.2812562708220054, "pregrasp_orientation_error_deg": 30.9271274237793}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.4267335496997386, "strict_length": 0.0, "assisted_length": 1.1070685049211537, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.08472704887390137, "door_quality": 0.6171935138495273, "step_quality_mean": 0.45313359121361035, "step_quality_min": -0.21716673644458417, "step_quality_max": 0.758317562623642, "alignment_signed_mean": -0.02040478727970696, "alignment_abs_mean": 0.2989133464256293, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.4077399958139306, 0.1330440670121033, 1.0409279452716753, 0.15529449041211554, 0.7455585705465625, 0.6336431630235136, 0.13609695472627079], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877399958139306, 0.1330440670121033, 1.0409279452716753, 0.15529449041211554, 0.7455585705465625, 0.6336431630235136, 0.13609695472627079], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119728121824885, "base_score": 0.42085108504008906, "final_score": 0.42085108504008906, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.07358193397521973, "door_quality": 0.6112596091401495, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.44465658448592793, "step_quality_min": -0.11795025772116197, "step_quality_max": 0.6875352887168678, "alignment_signed_mean": -0.04998300883095722, "alignment_abs_mean": 0.229574409993011, "alignment_min": -0.9614370215133805, "alignment_max": 0.9614370215133805, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1181567407291075, "base_score": 0.42471571357397514, "final_score": 0.42471571357397514, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.07987093925476074, "door_quality": 0.6165497084501845, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4522138692145495, "step_quality_min": -0.23344620977462843, "step_quality_max": 0.729900985603719, "alignment_signed_mean": -0.04726972521758582, "alignment_abs_mean": 0.2254352967110477, "alignment_min": -0.9548244368746245, "alignment_max": 0.9548244368746245, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4227833993070321, "score_before_reliability": 0.4227833993070321, "median_path_length": 1.1189424312769962, "door_quality": 0.6139046587951671, "door_open_delta": 0.07672643661499023, "step_quality_mean": 0.44843522685023873, "alignment_abs_mean": 0.22750485335202936, "alignment_signed_mean": -0.04862636702427152, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.4227833993070321, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677399958139306, 0.1330440670121033, 1.0409279452716753, 0.15529449041211554, 0.7455585705465625, 0.6336431630235136, 0.13609695472627079], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348869043198775, "base_score": 0.4148502070428095, "final_score": 0.4148502070428095, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.07904648780822754, "door_quality": 0.6055960277850949, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.43656575397870717, "step_quality_min": -0.14507661397944527, "step_quality_max": 0.6569529492065145, "alignment_signed_mean": -0.0007946838693104668, "alignment_abs_mean": 0.2607604790823699, "alignment_min": -0.9627873716026971, "alignment_max": 0.9627873716026971, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1349983534704777, "base_score": 0.41767426566670396, "final_score": 0.41767426566670396, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.07695841789245605, "door_quality": 0.6097412241699544, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.44248746309993486, "step_quality_min": -0.19525002115659212, "step_quality_max": 0.6344143792986404, "alignment_signed_mean": -0.025667942603939366, "alignment_abs_mean": 0.23977865177706903, "alignment_min": -0.9522940821028787, "alignment_max": 0.9522940821028787, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.41626223635475673, "score_before_reliability": 0.41626223635475673, "median_path_length": 1.1349426288951776, "door_quality": 0.6076686259775246, "door_open_delta": 0.0780024528503418, "step_quality_mean": 0.439526608539321, "alignment_abs_mean": 0.25026956542971945, "alignment_signed_mean": -0.013231313236624917, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.41626223635475673, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077399958139306, 0.1330440670121033, 1.0409279452716753, 0.15529449041211554, 0.7455585705465625, 0.6336431630235136, 0.13609695472627079], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070873016148022, "base_score": 0.4242393242620177, "final_score": 0.4242393242620177, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.08820581436157227, "door_quality": 0.6135899312089739, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4479856160128199, "step_quality_min": -0.21716673644458417, "step_quality_max": 0.758317562623642, "alignment_signed_mean": -0.049403441934458725, "alignment_abs_mean": 0.3125271409516731, "alignment_min": -0.9720683691849319, "alignment_max": 0.9720683691849319, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.107049708227505, "base_score": 0.42922777513745947, "final_score": 0.42922777513745947, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.08124828338623047, "door_quality": 0.6207970964900805, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4582815664144008, "step_quality_min": -0.21339648825375362, "step_quality_max": 0.6453894971744034, "alignment_signed_mean": 0.008593867375044802, "alignment_abs_mean": 0.2852995518995854, "alignment_min": -0.9415858467465886, "alignment_max": 0.9415858467465886, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4267335496997386, "score_before_reliability": 0.4267335496997386, "median_path_length": 1.1070685049211537, "door_quality": 0.6171935138495273, "door_open_delta": 0.08472704887390137, "step_quality_mean": 0.45313359121361035, "alignment_abs_mean": 0.2989133464256293, "alignment_signed_mean": -0.02040478727970696, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.4267335496997386, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 137, "state": {"door_angle": 0.753891110420227, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31093859672546387, -0.09495660662651062, 1.1866579055786133, 0.16537943482398987, 0.891101598739624, 0.41569259762763977, 0.07607416063547134], "right_arm_pose": [0.47866737842559814, -0.15861770510673523, 1.0302295684814453, 0.060648102313280106, 0.321890264749527, 0.9290932416915894, 0.17173880338668823], "left_arm_joint_positions": [-0.27013325691223145, 0.024126559495925903, -0.30937573313713074, -1.9448299407958984, 0.8784459829330444, 1.6850805282592773, 0.453039288520813], "right_arm_joint_positions": [0.2622239589691162, 0.6533033847808838, 0.02175953984260559, -2.428105354309082, -1.0630196332931519, 0.5840866565704346, -0.9546157121658325], "pregrasp_goal_pose": [0.3877428497384939, 0.13304311585416523, 1.0409305225965433, 0.15529696806130655, 0.7455627457584605, 0.6336382749524105, 0.13609401295943888], "pregrasp_position_error": 0.281281419370277, "pregrasp_orientation_error_deg": 30.924187968944974}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.4209672859863248, "strict_length": 0.0, "assisted_length": 1.1189672069926015, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0791466236114502, "door_quality": 0.6112744702118404, "step_quality_mean": 0.44467781458834343, "step_quality_min": -0.3405213163278574, "step_quality_max": 0.6630001424040719, "alignment_signed_mean": -0.051287782494097246, "alignment_abs_mean": 0.21409980228967115, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3877428497384939, 0.13304311585416523, 1.0409305225965433, 0.15529696806130655, 0.7455627457584605, 0.6336382749524105, 0.13609401295943888], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877428497384939, 0.13304311585416523, 1.0409305225965433, 0.15529696806130655, 0.7455627457584605, 0.6336382749524105, 0.13609401295943888], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1197257624183066, "base_score": 0.42404218800951127, "final_score": 0.42404218800951127, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0740509033203125, "door_quality": 0.6158940001886827, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4512771431266896, "step_quality_min": -0.21354491886600446, "step_quality_max": 0.6395412386468825, "alignment_signed_mean": -0.06852875973231216, "alignment_abs_mean": 0.20222565045731286, "alignment_min": -0.951346088287255, "alignment_max": 0.951346088287255, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1182086515668965, "base_score": 0.41789238396313844, "final_score": 0.41789238396313844, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.08424234390258789, "door_quality": 0.6066549402349981, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4380784860499973, "step_quality_min": -0.3405213163278574, "step_quality_max": 0.6630001424040719, "alignment_signed_mean": -0.03404680525588233, "alignment_abs_mean": 0.22597395412202945, "alignment_min": -0.9553591742319286, "alignment_max": 0.9553591742319286, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4209672859863248, "score_before_reliability": 0.4209672859863248, "median_path_length": 1.1189672069926015, "door_quality": 0.6112744702118404, "door_open_delta": 0.0791466236114502, "step_quality_mean": 0.44467781458834343, "alignment_abs_mean": 0.21409980228967115, "alignment_signed_mean": -0.051287782494097246, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.4209672859863248, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774284973849386, 0.13304311585416523, 1.0409305225965433, 0.15529696806130655, 0.7455627457584605, 0.6336382749524105, 0.13609401295943888], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1349635607400606, "base_score": 0.40258711167394834, "final_score": 0.40258711167394834, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0803530216217041, "door_quality": 0.5877094463282635, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.41101349475466226, "step_quality_min": -0.5039319500720135, "step_quality_max": 0.6540478303280913, "alignment_signed_mean": -0.011783374746265807, "alignment_abs_mean": 0.26771252711638305, "alignment_min": -0.9910013341759151, "alignment_max": 0.9910013341759151, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1349093219415132, "base_score": 0.42098327640122707, "final_score": 0.42098327640122707, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.08195710182189941, "door_quality": 0.614553640625697, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.44936234375099565, "step_quality_min": -0.15028735181370545, "step_quality_max": 0.6340908143421076, "alignment_signed_mean": 0.013712188663978081, "alignment_abs_mean": 0.2614418864438238, "alignment_min": -0.9661071230503068, "alignment_max": 0.9661071230503068, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.41178519403758773, "score_before_reliability": 0.41178519403758773, "median_path_length": 1.1349364413407868, "door_quality": 0.6011315434769802, "door_open_delta": 0.08115506172180176, "step_quality_mean": 0.43018791925282895, "alignment_abs_mean": 0.26457720678010344, "alignment_signed_mean": 0.000964406958856137, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.41178519403758773, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077428497384939, 0.13304311585416523, 1.0409305225965433, 0.15529696806130655, 0.7455627457584605, 0.6336382749524105, 0.13609401295943888], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070108152921698, "base_score": 0.4250998836305737, "final_score": 0.4250998836305737, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.08192038536071777, "door_quality": 0.6148189084965201, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.44974129785217165, "step_quality_min": -0.1647823201869421, "step_quality_max": 0.6376750470171413, "alignment_signed_mean": 0.021819404423724733, "alignment_abs_mean": 0.24192882013525738, "alignment_min": -0.960361164774087, "alignment_max": 0.960361164774087, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1070643656584815, "base_score": 0.40740355804816186, "final_score": 0.40740355804816186, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09081125259399414, "door_quality": 0.5892353577363532, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4131933681947903, "step_quality_min": -0.4483233489840742, "step_quality_max": 0.6483410656470412, "alignment_signed_mean": 0.00036828632088605135, "alignment_abs_mean": 0.2991404469230752, "alignment_min": -0.971864926722937, "alignment_max": 0.971864926722937, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4162517208393678, "score_before_reliability": 0.4162517208393678, "median_path_length": 1.1070375904753256, "door_quality": 0.6020271331164366, "door_open_delta": 0.08636581897735596, "step_quality_mean": 0.43146733302348095, "alignment_abs_mean": 0.2705346335291663, "alignment_signed_mean": 0.011093845372305393, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.4162517208393678, "source": "assisted"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 138, "state": {"door_angle": 0.7364932298660278, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.3109684884548187, -0.09496434032917023, 1.1866768598556519, 0.16536177694797516, 0.8911114931106567, 0.415679007768631, 0.07607058435678482], "right_arm_pose": [0.4775729477405548, -0.16078799962997437, 1.0266369581222534, 0.05994023010134697, 0.31903529167175293, 0.9301153421401978, 0.1717822402715683], "left_arm_joint_positions": [-0.2701404094696045, 0.02410629391670227, -0.30934950709342957, -1.94468355178833, 0.8784302473068237, 1.6850881576538086, 0.453008770942688], "right_arm_joint_positions": [0.26597046852111816, 0.6689672470092773, 0.020290642976760864, -2.41707181930542, -1.0563701391220093, 0.5807149410247803, -0.9492391347885132], "pregrasp_goal_pose": [0.38774828604301104, 0.13303813550864996, 1.0409328308780699, 0.1553017963959386, 0.7455654595814167, 0.6336351212261182, 0.13608831935220506], "pregrasp_position_error": 0.28128559914876167, "pregrasp_orientation_error_deg": 30.925463222394487}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.4176424876748243, "strict_length": 0.0, "assisted_length": 1.1071405883018828, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.08134520053863525, "door_quality": 0.6040594619784602, "step_quality_mean": 0.4343706599692288, "step_quality_min": -0.3500265299825478, "step_quality_max": 0.6799453471608767, "alignment_signed_mean": 0.03476446422441649, "alignment_abs_mean": 0.2620666093690207, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.40774828604301105, 0.13303813550864996, 1.0409328308780699, 0.1553017963959386, 0.7455654595814167, 0.6336351212261182, 0.13608831935220506], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774828604301104, 0.13303813550864996, 1.0409328308780699, 0.1553017963959386, 0.7455654595814167, 0.6336351212261182, 0.13608831935220506], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1197920514232462, "base_score": 0.41766497797671853, "final_score": 0.41766497797671853, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0727238655090332, "door_quality": 0.6066449173320732, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.43806416761724737, "step_quality_min": -0.24318141717091107, "step_quality_max": 0.6233639944037913, "alignment_signed_mean": -0.0013191701666811174, "alignment_abs_mean": 0.21935657201105507, "alignment_min": -0.951521734135279, "alignment_max": 0.951521734135279, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.118268802363614, "base_score": 0.4063796169896637, "final_score": 0.4063796169896637, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.07765364646911621, "door_quality": 0.5899536694236927, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.41421952774813237, "step_quality_min": -0.27592548270248624, "step_quality_max": 0.6536772828106393, "alignment_signed_mean": 0.022570689966089536, "alignment_abs_mean": 0.25327095455250964, "alignment_min": -0.9610919910925605, "alignment_max": 0.9610919910925605, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4120222974831911, "score_before_reliability": 0.4120222974831911, "median_path_length": 1.1190304268934301, "door_quality": 0.5982992933778829, "door_open_delta": 0.07518875598907471, "step_quality_mean": 0.42614184768268987, "alignment_abs_mean": 0.23631376328178236, "alignment_signed_mean": 0.010625759899704209, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.4120222974831911, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.367748286043011, 0.13303813550864996, 1.0409328308780699, 0.1553017963959386, 0.7455654595814167, 0.6336351212261182, 0.13608831935220506], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1350118504184918, "base_score": 0.4153764631610364, "final_score": 0.4153764631610364, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.07604408264160156, "door_quality": 0.6063895083516944, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4376992976452777, "step_quality_min": -0.09873822110141028, "step_quality_max": 0.6145768324501939, "alignment_signed_mean": 0.012883691140740892, "alignment_abs_mean": 0.26722559419890385, "alignment_min": -0.9549259805950878, "alignment_max": 0.9549259805950878, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1350930803302244, "base_score": 0.4041562993122275, "final_score": 0.4041562993122275, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.07863998413085938, "door_quality": 0.5900256690031456, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4143223842902079, "step_quality_min": -0.27204496175394727, "step_quality_max": 0.5965869627908209, "alignment_signed_mean": 0.015432168144236225, "alignment_abs_mean": 0.31035201931907463, "alignment_min": -0.9520290627218093, "alignment_max": 0.9520290627218093, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.40976638123663195, "score_before_reliability": 0.40976638123663195, "median_path_length": 1.135052465374358, "door_quality": 0.59820758867742, "door_open_delta": 0.07734203338623047, "step_quality_mean": 0.4260108409677428, "alignment_abs_mean": 0.2887888067589892, "alignment_signed_mean": 0.014157929642488559, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.40976638123663195, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774828604301105, 0.13303813550864996, 1.0409328308780699, 0.1553017963959386, 0.7455654595814167, 0.6336351212261182, 0.13608831935220506], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1071388896881784, "base_score": 0.4151370751050958, "final_score": 0.4151370751050958, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0848391056060791, "door_quality": 0.6004354030021193, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.42919343286017037, "step_quality_min": -0.3500265299825478, "step_quality_max": 0.6799453471608767, "alignment_signed_mean": 0.029782045897597656, "alignment_abs_mean": 0.25512945416719707, "alignment_min": -0.9618089549948933, "alignment_max": 0.9618089549948933, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1071422869155871, "base_score": 0.42014790024455284, "final_score": 0.42014790024455284, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0778512954711914, "door_quality": 0.607683520954801, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.43954788707828724, "step_quality_min": -0.14555434344750895, "step_quality_max": 0.6265714652975639, "alignment_signed_mean": 0.03974688255123532, "alignment_abs_mean": 0.2690037645708443, "alignment_min": -0.968744090184745, "alignment_max": 0.968744090184745, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4176424876748243, "score_before_reliability": 0.4176424876748243, "median_path_length": 1.1071405883018828, "door_quality": 0.6040594619784602, "door_open_delta": 0.08134520053863525, "step_quality_mean": 0.4343706599692288, "alignment_abs_mean": 0.2620666093690207, "alignment_signed_mean": 0.03476446422441649, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.4176424876748243, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 139, "state": {"door_angle": 0.7294133901596069, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31094735860824585, -0.09495951235294342, 1.1866118907928467, 0.16538453102111816, 0.8911031484603882, 0.415695458650589, 0.0760297104716301], "right_arm_pose": [0.47717636823654175, -0.1622263789176941, 1.0247776508331299, 0.059588637202978134, 0.3171760141849518, 0.9307522773742676, 0.17189739644527435], "left_arm_joint_positions": [-0.27013206481933594, 0.02424362301826477, -0.30937501788139343, -1.944694995880127, 0.8784104585647583, 1.6850414276123047, 0.45304977893829346], "right_arm_joint_positions": [0.2684791088104248, 0.6775338649749756, 0.020098239183425903, -2.411052703857422, -1.0526167154312134, 0.5782551765441895, -0.9463537931442261], "pregrasp_goal_pose": [0.3877431685544602, 0.13304300782684844, 1.0409306107832306, 0.15529942625530083, 0.7455604440770212, 0.6336409975578506, 0.1360911409546606], "pregrasp_position_error": 0.28125749941800954, "pregrasp_orientation_error_deg": 30.925499839351343}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7638888888888888, "tray_projected_count": 288, "tray_visible_count": 220}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.4989121649698003, "strict_length": 0.0, "assisted_length": 1.1070478282799117, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.09341800212860107, "door_quality": 0.7215819865740445, "step_quality_mean": 0.6022599808200637, "step_quality_min": 0.2909366070194478, "step_quality_max": 0.9489839258034779, "alignment_signed_mean": -0.10373711679810299, "alignment_abs_mean": 0.1800332012674925, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.40774316855446024, 0.13304300782684844, 1.0409306107832306, 0.15529942625530083, 0.7455604440770212, 0.6336409975578506, 0.1360911409546606], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877431685544602, 0.13304300782684844, 1.0409306107832306, 0.15529942625530083, 0.7455604440770212, 0.6336409975578506, 0.1360911409546606], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1196666605629315, "base_score": 0.47182627043677366, "final_score": 0.47182627043677366, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09195423126220703, "door_quality": 0.6852838053997435, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.550405436285348, "step_quality_min": -0.3644922825512777, "step_quality_max": 0.9343882593949936, "alignment_signed_mean": -0.08684820667897565, "alignment_abs_mean": 0.18515820694536209, "alignment_min": -0.8936239911549821, "alignment_max": 0.8936239911549821, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1181822658979945, "base_score": 0.47396877732326986, "final_score": 0.47396877732326986, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09367632865905762, "door_quality": 0.688055064860793, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5543643783725616, "step_quality_min": -0.33026704965455944, "step_quality_max": 0.9359067045813084, "alignment_signed_mean": -0.10189136073146658, "alignment_abs_mean": 0.22080279743760792, "alignment_min": -0.859976764562211, "alignment_max": 0.859976764562211, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.47289752388002176, "score_before_reliability": 0.47289752388002176, "median_path_length": 1.1189244632304631, "door_quality": 0.6866694351302682, "door_open_delta": 0.09281527996063232, "step_quality_mean": 0.5523849073289548, "alignment_abs_mean": 0.202980502191485, "alignment_signed_mean": -0.09436978370522112, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.47289752388002176, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677431685544602, 0.13304300782684844, 1.0409306107832306, 0.15529942625530083, 0.7455604440770212, 0.6336409975578506, 0.1360911409546606], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1348521340158972, "base_score": 0.41410738651662643, "final_score": 0.41410738651662643, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.07818341255187988, "door_quality": 0.6045046561964551, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.43500665170922154, "step_quality_min": -0.14493819919357415, "step_quality_max": 0.6371666762081258, "alignment_signed_mean": 0.020695764403478756, "alignment_abs_mean": 0.25913188236494, "alignment_min": -0.959536988801323, "alignment_max": 0.959536988801323, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1349644548629843, "base_score": 0.39859997994508234, "final_score": 0.39859997994508234, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.07792186737060547, "door_quality": 0.5818890782799983, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.40269868325714037, "step_quality_min": -0.12180493302307849, "step_quality_max": 0.5820888784487009, "alignment_signed_mean": 0.024971110381612215, "alignment_abs_mean": 0.3061647515719657, "alignment_min": -0.9539097720056086, "alignment_max": 0.9539097720056086, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4063536832308544, "score_before_reliability": 0.4063536832308544, "median_path_length": 1.1349082944394406, "door_quality": 0.5931968672382266, "door_open_delta": 0.07805263996124268, "step_quality_mean": 0.41885266748318095, "alignment_abs_mean": 0.28264831696845283, "alignment_signed_mean": 0.022833437392545487, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.4063536832308544, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774316855446024, 0.13304300782684844, 1.0409306107832306, 0.15529942625530083, 0.7455604440770212, 0.6336409975578506, 0.1360911409546606], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1070557921860034, "base_score": 0.49972908220522905, "final_score": 0.49972908220522905, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09419751167297363, "door_quality": 0.7227654182184062, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.603950597454866, "step_quality_min": 0.29699459439927994, "step_quality_max": 0.9489839258034779, "alignment_signed_mean": -0.10323180852588551, "alignment_abs_mean": 0.17823598172542257, "alignment_min": -0.5162763985324571, "alignment_max": 0.5162763985324571, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.10703986437382, "base_score": 0.4980952477343716, "final_score": 0.4980952477343716, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09263849258422852, "door_quality": 0.7203985549296829, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6005693641852613, "step_quality_min": 0.2909366070194478, "step_quality_max": 0.9481235963047798, "alignment_signed_mean": -0.10424242507032046, "alignment_abs_mean": 0.18183042080956247, "alignment_min": -0.5174856119118754, "alignment_max": 0.5174856119118754, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4989121649698003, "score_before_reliability": 0.4989121649698003, "median_path_length": 1.1070478282799117, "door_quality": 0.7215819865740445, "door_open_delta": 0.09341800212860107, "step_quality_mean": 0.6022599808200637, "alignment_abs_mean": 0.1800332012674925, "alignment_signed_mean": -0.10373711679810299, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.4989121649698003, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474817752838135, "final_height": 1.0474817752838135, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474817752838135}], "score": 0.0007335344950358067}}
+{"frame_index": 140, "state": {"door_angle": 0.7280718088150024, "tray_height": 1.0474828481674194, "tray_grasped_left": false, "left_arm_pose": [0.3109164834022522, -0.09491044282913208, 1.1862231492996216, 0.1655467003583908, 0.8910871744155884, 0.41572996973991394, 0.07567376643419266], "right_arm_pose": [0.47707685828208923, -0.16228698194026947, 1.0248067378997803, 0.059533726423978806, 0.3165059983730316, 0.9310060143470764, 0.17177774012088776], "left_arm_joint_positions": [-0.27013111114501953, 0.024639874696731567, -0.3093409240245819, -1.9451544284820557, 0.8783572912216187, 1.68503737449646, 0.45310866832733154], "right_arm_joint_positions": [0.2684957981109619, 0.6774637699127197, 0.020273476839065552, -2.410839080810547, -1.0526264905929565, 0.5769047737121582, -0.9463201761245728], "pregrasp_goal_pose": [0.3877428691203178, 0.13304321236779942, 1.0409305607061898, 0.15529976186081762, 0.7455592137478568, 0.6336424457324761, 0.13609075548257044], "pregrasp_position_error": 0.28102508564240797, "pregrasp_orientation_error_deg": 30.93139391834225}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7638888888888888, "tray_projected_count": 288, "tray_visible_count": 220}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.49839470513336137, "strict_length": 0.0, "assisted_length": 1.1068043184352028, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0927053689956665, "door_quality": 0.7207750667465112, "step_quality_mean": 0.6011072382093017, "step_quality_min": 0.1555981335502684, "step_quality_max": 0.9486813173122824, "alignment_signed_mean": -0.09900142995415327, "alignment_abs_mean": 0.18205112515254934, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.4077428691203178, 0.13304321236779942, 1.0409305607061898, 0.15529976186081762, 0.7455592137478568, 0.6336424457324761, 0.13609075548257044], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877428691203178, 0.13304321236779942, 1.0409305607061898, 0.15529976186081762, 0.7455592137478568, 0.6336424457324761, 0.13609075548257044], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1194625221382895, "base_score": 0.4698896385080279, "final_score": 0.4698896385080279, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.08557987213134766, "door_quality": 0.6824245895772465, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5463208422532094, "step_quality_min": -0.3295870785913971, "step_quality_max": 0.9236052192402555, "alignment_signed_mean": -0.06717764272696528, "alignment_abs_mean": 0.19634093980756215, "alignment_min": -0.8808749177834801, "alignment_max": 0.8808749177834801, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1179719320683694, "base_score": 0.47697004219433053, "final_score": 0.47697004219433053, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09459090232849121, "door_quality": 0.6923634226369892, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5605191751956989, "step_quality_min": -0.2783325544766086, "step_quality_max": 0.9444284390728882, "alignment_signed_mean": -0.06290406026236814, "alignment_abs_mean": 0.19596012117242295, "alignment_min": -0.8653184361480534, "alignment_max": 0.8653184361480534, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4734298403511792, "score_before_reliability": 0.4734298403511792, "median_path_length": 1.1187172271033294, "door_quality": 0.6873940061071179, "door_open_delta": 0.09008538722991943, "step_quality_mean": 0.5534200087244542, "alignment_abs_mean": 0.19615053048999254, "alignment_signed_mean": -0.06504085149466671, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.4734298403511792, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677428691203178, 0.13304321236779942, 1.0409305607061898, 0.15529976186081762, 0.7455592137478568, 0.6336424457324761, 0.13609075548257044], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134758121671931, "base_score": 0.40576336594218587, "final_score": 0.40576336594218587, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0771183967590332, "door_quality": 0.5923056808459235, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.417579544065605, "step_quality_min": -0.1095291589592331, "step_quality_max": 0.6185357344018798, "alignment_signed_mean": 0.07472975475125893, "alignment_abs_mean": 0.34431692201831793, "alignment_min": -0.9607421549401801, "alignment_max": 0.9607421549401801, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1345976813641234, "base_score": 0.39699788245852374, "final_score": 0.39699788245852374, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0758659839630127, "door_quality": 0.5794794345803533, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.3992563351147904, "step_quality_min": -0.10592919815557189, "step_quality_max": 0.6373283211243869, "alignment_signed_mean": 0.06586357253926253, "alignment_abs_mean": 0.3289151009602648, "alignment_min": -0.9485858250813207, "alignment_max": 0.9485858250813207, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4013806242003548, "score_before_reliability": 0.4013806242003548, "median_path_length": 1.1346779015180273, "door_quality": 0.5858925577131384, "door_open_delta": 0.07649219036102295, "step_quality_mean": 0.4084179395901977, "alignment_abs_mean": 0.3366160114892913, "alignment_signed_mean": 0.07029666364526073, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.4013806242003548, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077428691203178, 0.13304321236779942, 1.0409305607061898, 0.15529976186081762, 0.7455592137478568, 0.6336424457324761, 0.13609075548257044], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106802144809363, "base_score": 0.4996933804355691, "final_score": 0.4996933804355691, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09332108497619629, "door_quality": 0.7226526799960302, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6037895428514718, "step_quality_min": 0.36713398329730007, "step_quality_max": 0.9486813173122824, "alignment_signed_mean": -0.09874362628664911, "alignment_abs_mean": 0.180591922578747, "alignment_min": -0.5382968010154119, "alignment_max": 0.5382968010154119, "door_contact_steps": 28, "path_steps": 28}, {"path_found": true, "path_length": 1.1068064920610425, "base_score": 0.4970960298311537, "final_score": 0.4970960298311537, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09208965301513672, "door_quality": 0.7188974534969921, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5984249335671317, "step_quality_min": 0.1555981335502684, "step_quality_max": 0.9479874635226972, "alignment_signed_mean": -0.09925923362165744, "alignment_abs_mean": 0.1835103277263517, "alignment_min": -0.4949351491715155, "alignment_max": 0.4949351491715155, "door_contact_steps": 28, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.49839470513336137, "score_before_reliability": 0.49839470513336137, "median_path_length": 1.1068043184352028, "door_quality": 0.7207750667465112, "door_open_delta": 0.0927053689956665, "step_quality_mean": 0.6011072382093017, "alignment_abs_mean": 0.18205112515254934, "alignment_signed_mean": -0.09900142995415327, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.49839470513336137, "source": "assisted"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 141, "state": {"door_angle": 0.7254847288131714, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3108106851577759, -0.0948512926697731, 1.1854232549667358, 0.16583843529224396, 0.891052782535553, 0.4158266484737396, 0.07490529119968414], "right_arm_pose": [0.4775567352771759, -0.16122257709503174, 1.023047924041748, 0.058994829654693604, 0.31668514013290405, 0.9308847784996033, 0.17228969931602478], "left_arm_joint_positions": [-0.2701303958892822, 0.025279074907302856, -0.30934545397758484, -1.9457423686981201, 0.8782678842544556, 1.684877872467041, 0.453105092048645], "right_arm_joint_positions": [0.2691769599914551, 0.68111252784729, 0.01989462971687317, -2.409113883972168, -1.051385760307312, 0.5785887241363525, -0.9453862905502319], "pregrasp_goal_pose": [0.3877476119241722, 0.13303883663759364, 1.040932695227276, 0.15530331736121172, 0.7455627289097077, 0.6336383410840369, 0.13608655181751755], "pregrasp_position_error": 0.2805899563238296, "pregrasp_orientation_error_deg": 30.940841210098295}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.4840480774990271, "strict_length": 0.0, "assisted_length": 1.1062720193436215, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.08789288997650146, "door_quality": 0.6999029175799815, "step_quality_mean": 0.5712898822571164, "step_quality_min": 0.18589411015584534, "step_quality_max": 0.9316371236701257, "alignment_signed_mean": 0.10178440214079745, "alignment_abs_mean": 0.22449045353675615, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.4077476119241722, 0.13303883663759364, 1.040932695227276, 0.15530331736121172, 0.7455627289097077, 0.6336383410840369, 0.13608655181751755], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877476119241722, 0.13303883663759364, 1.040932695227276, 0.15530331736121172, 0.7455627289097077, 0.6336383410840369, 0.13608655181751755], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1188959145978947, "base_score": 0.460635912860302, "final_score": 0.460635912860302, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0908498764038086, "door_quality": 0.6688589888741748, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5269414126773927, "step_quality_min": -0.4130993846297796, "step_quality_max": 0.9126032182204075, "alignment_signed_mean": 0.11690891984735227, "alignment_abs_mean": 0.29253697624644975, "alignment_min": -0.8759504074171275, "alignment_max": 0.8759504074171275, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1174433766796608, "base_score": 0.46052601150801, "final_score": 0.46052601150801, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09073162078857422, "door_quality": 0.6683757163316435, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5262510233309193, "step_quality_min": -0.3680733477325173, "step_quality_max": 0.926311023173558, "alignment_signed_mean": 0.12812439007608367, "alignment_abs_mean": 0.3022088847498932, "alignment_min": -0.8564993280572542, "alignment_max": 0.8564993280572542, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.460580962184156, "score_before_reliability": 0.460580962184156, "median_path_length": 1.1181696456387777, "door_quality": 0.6686173526029091, "door_open_delta": 0.0907907485961914, "step_quality_mean": 0.526596218004156, "alignment_abs_mean": 0.2973729304981715, "alignment_signed_mean": 0.12251665496171797, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.460580962184156, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774761192417216, 0.13303883663759364, 1.040932695227276, 0.15530331736121172, 0.7455627289097077, 0.6336383410840369, 0.13608655181751755], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1341673261664464, "base_score": 0.3906606206875701, "final_score": 0.3906606206875701, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.07565855979919434, "door_quality": 0.5701474323802032, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.38592490340029034, "step_quality_min": -0.16302407113927125, "step_quality_max": 0.6345770814910263, "alignment_signed_mean": -0.04489746816263926, "alignment_abs_mean": 0.29861552766560634, "alignment_min": -0.9575542641266453, "alignment_max": 0.9575542641266453, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1341044382253442, "base_score": 0.4072133690178584, "final_score": 0.4072133690178584, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.08825492858886719, "door_quality": 0.5942927891895666, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.42041827027080947, "step_quality_min": -0.46861699216865105, "step_quality_max": 0.6075599880455157, "alignment_signed_mean": 0.006580855956053518, "alignment_abs_mean": 0.3009189451377197, "alignment_min": -0.944461800126263, "alignment_max": 0.944461800126263, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.3989369948527143, "score_before_reliability": 0.3989369948527143, "median_path_length": 1.1341358821958953, "door_quality": 0.5822201107848849, "door_open_delta": 0.08195674419403076, "step_quality_mean": 0.4031715868355499, "alignment_abs_mean": 0.29976723640166303, "alignment_signed_mean": -0.01915830610329287, "collision_count": 1.5, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.3989369948527143, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077476119241722, 0.13303883663759364, 1.040932695227276, 0.15530331736121172, 0.7455627289097077, 0.6336383410840369, 0.13608655181751755], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1061914414326552, "base_score": 0.4829550167700107, "final_score": 0.4829550167700107, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0884087085723877, "door_quality": 0.6983036220633139, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5690051743761628, "step_quality_min": 0.29723939047959647, "step_quality_max": 0.9316371236701257, "alignment_signed_mean": 0.10242885713034768, "alignment_abs_mean": 0.22169782209405176, "alignment_min": -0.536489212595534, "alignment_max": 0.536489212595534, "door_contact_steps": 20, "path_steps": 28}, {"path_found": true, "path_length": 1.1063525972545876, "base_score": 0.4851411382280435, "final_score": 0.4851411382280435, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.08737707138061523, "door_quality": 0.7015022130966491, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5735745901380701, "step_quality_min": 0.18589411015584534, "step_quality_max": 0.9263511652064353, "alignment_signed_mean": 0.10113994715124723, "alignment_abs_mean": 0.22728308497946054, "alignment_min": -0.5394233926007904, "alignment_max": 0.5394233926007904, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4840480774990271, "score_before_reliability": 0.4840480774990271, "median_path_length": 1.1062720193436215, "door_quality": 0.6999029175799815, "door_open_delta": 0.08789288997650146, "step_quality_mean": 0.5712898822571164, "alignment_abs_mean": 0.22449045353675615, "alignment_signed_mean": 0.10178440214079745, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.4840480774990271, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 142, "state": {"door_angle": 0.7286306619644165, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31090301275253296, -0.09488525986671448, 1.1856486797332764, 0.16576245427131653, 0.8910723924636841, 0.4157675504684448, 0.07516764104366302], "right_arm_pose": [0.4777170717716217, -0.15997548401355743, 1.0209548473358154, 0.05910128355026245, 0.32059693336486816, 0.929542601108551, 0.17226479947566986], "left_arm_joint_positions": [-0.27013492584228516, 0.025182753801345825, -0.30934903025627136, -1.9453773498535156, 0.8782976865768433, 1.685004472732544, 0.4531198740005493], "right_arm_joint_positions": [0.26906847953796387, 0.6824219226837158, 0.019159823656082153, -2.4086174964904785, -1.050869107246399, 0.5881900787353516, -0.9450980424880981], "pregrasp_goal_pose": [0.3877424950997366, 0.13304413240810636, 1.0409298722779137, 0.15529732215008898, 0.7455603932147746, 0.633641041959293, 0.1360936139103641], "pregrasp_position_error": 0.2807127484484054, "pregrasp_orientation_error_deg": 30.940985055283708}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.48587357876083936, "strict_length": 0.0, "assisted_length": 1.106397517710124, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.09325027465820312, "door_quality": 0.7025718183426327, "step_quality_mean": 0.5751025976323325, "step_quality_min": 0.19506638471406063, "step_quality_max": 0.9319591556044008, "alignment_signed_mean": 0.08258542793370721, "alignment_abs_mean": 0.23015020846091766, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.4077424950997366, 0.13304413240810636, 1.0409298722779137, 0.15529732215008898, 0.7455603932147746, 0.633641041959293, 0.1360936139103641], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877424950997366, 0.13304413240810636, 1.0409298722779137, 0.15529732215008898, 0.7455603932147746, 0.633641041959293, 0.1360936139103641], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1190450908984837, "base_score": 0.4623079091589883, "final_score": 0.4623079091589883, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09607458114624023, "door_quality": 0.6713201651379104, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5304573787684435, "step_quality_min": -0.36145206943827496, "step_quality_max": 0.958750331596532, "alignment_signed_mean": 0.06972076993299307, "alignment_abs_mean": 0.34076798454379215, "alignment_min": -0.8684323040079257, "alignment_max": 0.8684323040079257, "door_contact_steps": 13, "path_steps": 28}, {"path_found": true, "path_length": 1.1174614548632182, "base_score": 0.39831394628944927, "final_score": 0.39831394628944927, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0843803882598877, "door_quality": 0.5780888957552606, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.3972698510789437, "step_quality_min": -0.15373035485757458, "step_quality_max": 0.6625152184699453, "alignment_signed_mean": -0.00045754421245791107, "alignment_abs_mean": 0.3025793489676232, "alignment_min": -0.9674811483022041, "alignment_max": 0.9456918916009891, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.43031092772421875, "score_before_reliability": 0.43031092772421875, "median_path_length": 1.118253272880851, "door_quality": 0.6247045304465855, "door_open_delta": 0.09022748470306396, "step_quality_mean": 0.46386361492369355, "alignment_abs_mean": 0.32167366675570763, "alignment_signed_mean": 0.03463161286026758, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.43031092772421875, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774249509973655, 0.13304413240810636, 1.0409298722779137, 0.15529732215008898, 0.7455603932147746, 0.633641041959293, 0.1360936139103641], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1342736068076864, "base_score": 0.39303050035484516, "final_score": 0.39303050035484516, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.08246898651123047, "door_quality": 0.5736264612871547, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.39089494469593516, "step_quality_min": -0.1992978731105522, "step_quality_max": 0.6825762721985261, "alignment_signed_mean": -0.04206642585188157, "alignment_abs_mean": 0.2739910740307946, "alignment_min": -0.9577668849647569, "alignment_max": 0.9577668849647569, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1342911868039876, "base_score": 0.3777552783186816, "final_score": 0.3777552783186816, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0816500186920166, "door_quality": 0.5513355659374681, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.3590508084820973, "step_quality_min": -0.02676358619021768, "step_quality_max": 0.6009435820757983, "alignment_signed_mean": -0.013697356703759147, "alignment_abs_mean": 0.32439358786170075, "alignment_min": -0.9581646883913788, "alignment_max": 0.9581646883913788, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.3853928893367634, "score_before_reliability": 0.3853928893367634, "median_path_length": 1.1342823968058369, "door_quality": 0.5624810136123114, "door_open_delta": 0.08205950260162354, "step_quality_mean": 0.37497287658901624, "alignment_abs_mean": 0.29919233094624764, "alignment_signed_mean": -0.02788189127782036, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.3853928893367634, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077424950997366, 0.13304413240810636, 1.0409298722779137, 0.15529732215008898, 0.7455603932147746, 0.633641041959293, 0.1360936139103641], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1064098251359755, "base_score": 0.48491010520653177, "final_score": 0.48491010520653177, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09202027320861816, "door_quality": 0.7011815205849645, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5731164579785208, "step_quality_min": 0.19506638471406063, "step_quality_max": 0.9319591556044008, "alignment_signed_mean": 0.07996314335005751, "alignment_abs_mean": 0.22756413484310375, "alignment_min": -0.4783092306315609, "alignment_max": 0.4783092306315609, "door_contact_steps": 20, "path_steps": 28}, {"path_found": true, "path_length": 1.1063852102842722, "base_score": 0.4868370523151469, "final_score": 0.4868370523151469, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09448027610778809, "door_quality": 0.7039621161003009, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5770887372861443, "step_quality_min": 0.3826080325766461, "step_quality_max": 0.9314833755254838, "alignment_signed_mean": 0.08520771251735693, "alignment_abs_mean": 0.23273628207873157, "alignment_min": -0.5187586368143438, "alignment_max": 0.5187586368143438, "door_contact_steps": 20, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.48587357876083936, "score_before_reliability": 0.48587357876083936, "median_path_length": 1.106397517710124, "door_quality": 0.7025718183426327, "door_open_delta": 0.09325027465820312, "step_quality_mean": 0.5751025976323325, "alignment_abs_mean": 0.23015020846091766, "alignment_signed_mean": 0.08258542793370721, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.48587357876083936, "source": "assisted"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 143, "state": {"door_angle": 0.7272943258285522, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31090331077575684, -0.09490630030632019, 1.185768723487854, 0.1657140851020813, 0.8910735845565796, 0.4157705307006836, 0.07524392008781433], "right_arm_pose": [0.4778148829936981, -0.15940068662166595, 1.0199705362319946, 0.05908479541540146, 0.3224250376224518, 0.9289172291755676, 0.1722317934036255], "left_arm_joint_positions": [-0.2701423168182373, 0.025222808122634888, -0.30933210253715515, -1.9454176425933838, 0.8783046007156372, 1.6849589347839355, 0.4531038999557495], "right_arm_joint_positions": [0.26905202865600586, 0.6829159259796143, 0.01891663670539856, -2.4085097312927246, -1.050690770149231, 0.5920186042785645, -0.944970965385437], "pregrasp_goal_pose": [0.38774164662490695, 0.13304297909575608, 1.0409301611022779, 0.15529809309005654, 0.7455601040719252, 0.6336413873546439, 0.13609271005507373], "pregrasp_position_error": 0.28079033635421474, "pregrasp_orientation_error_deg": 30.93859133420844}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.48509707847772127, "strict_length": 0.0, "assisted_length": 1.1065833924238788, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.08997213840484619, "door_quality": 0.7014924690261226, "step_quality_mean": 0.5735606700373181, "step_quality_min": 0.17016849469484552, "step_quality_max": 0.9273584474070777, "alignment_signed_mean": 0.1066720795853488, "alignment_abs_mean": 0.20966659735253496, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.407741646624907, 0.13304297909575608, 1.0409301611022779, 0.15529809309005654, 0.7455601040719252, 0.6336413873546439, 0.13609271005507373], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774164662490695, 0.13304297909575608, 1.0409301611022779, 0.15529809309005654, 0.7455601040719252, 0.6336413873546439, 0.13609271005507373], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119177638268532, "base_score": 0.4568773956437049, "final_score": 0.4568773956437049, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09521079063415527, "door_quality": 0.6634637957947007, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5192339939924298, "step_quality_min": -0.35301841305759896, "step_quality_max": 0.9235491330251621, "alignment_signed_mean": 0.11281346496653742, "alignment_abs_mean": 0.30078948247987225, "alignment_min": -0.9008808381209309, "alignment_max": 0.9008808381209309, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1176136688981875, "base_score": 0.4507706307243225, "final_score": 0.4507706307243225, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09419727325439453, "door_quality": 0.6542545660460456, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5060779514943509, "step_quality_min": -0.33511706190228074, "step_quality_max": 0.9365529193818108, "alignment_signed_mean": -0.008895379794305623, "alignment_abs_mean": 0.38889185779273777, "alignment_min": -0.884798622847149, "alignment_max": 0.884798622847149, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.45382401318401366, "score_before_reliability": 0.45382401318401366, "median_path_length": 1.1183956535833597, "door_quality": 0.6588591809203732, "door_open_delta": 0.0947040319442749, "step_quality_mean": 0.5126559727433904, "alignment_abs_mean": 0.34484067013630504, "alignment_signed_mean": 0.0519590425861159, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.45382401318401366, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774164662490694, 0.13304297909575608, 1.0409301611022779, 0.15529809309005654, 0.7455601040719252, 0.6336413873546439, 0.13609271005507373], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1343807499351812, "base_score": 0.3795431842330518, "final_score": 0.3795431842330518, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.08074522018432617, "door_quality": 0.5539615607722108, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.36280222967458686, "step_quality_min": 0.018404656181830292, "step_quality_max": 0.6250558670628861, "alignment_signed_mean": -0.07100514514359722, "alignment_abs_mean": 0.3726000512017745, "alignment_min": -0.959640732170414, "alignment_max": 0.959640732170414, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1344196042583807, "base_score": 0.38740940646707744, "final_score": 0.38740940646707744, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0823664665222168, "door_quality": 0.5654500144001599, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.3792143062859427, "step_quality_min": -0.03588216260302596, "step_quality_max": 0.6103154344229529, "alignment_signed_mean": -0.015301921376190521, "alignment_abs_mean": 0.2955175640058802, "alignment_min": -0.9530544088289366, "alignment_max": 0.9530544088289366, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.3834762953500646, "score_before_reliability": 0.3834762953500646, "median_path_length": 1.134400177096781, "door_quality": 0.5597057875861853, "door_open_delta": 0.08155584335327148, "step_quality_mean": 0.37100826798026476, "alignment_abs_mean": 0.33405880760382733, "alignment_signed_mean": -0.04315353325989387, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.3834762953500646, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.407741646624907, 0.13304297909575608, 1.0409301611022779, 0.15529809309005654, 0.7455601040719252, 0.6336413873546439, 0.13609271005507373], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106583809628607, "base_score": 0.4865970023704993, "final_score": 0.4865970023704993, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09097599983215332, "door_quality": 0.7036615866830436, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5766594095472052, "step_quality_min": 0.31533617341386255, "step_quality_max": 0.9251075576386212, "alignment_signed_mean": 0.10747408598924382, "alignment_abs_mean": 0.20786723155337541, "alignment_min": -0.4821518817577024, "alignment_max": 0.4821518817577024, "door_contact_steps": 20, "path_steps": 28}, {"path_found": true, "path_length": 1.1065829752191507, "base_score": 0.48359715458494323, "final_score": 0.48359715458494323, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.08896827697753906, "door_quality": 0.6993233513692018, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5704619305274311, "step_quality_min": 0.17016849469484552, "step_quality_max": 0.9273584474070777, "alignment_signed_mean": 0.10587007318145376, "alignment_abs_mean": 0.21146596315169452, "alignment_min": -0.49832105757440975, "alignment_max": 0.49832105757440975, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.48509707847772127, "score_before_reliability": 0.48509707847772127, "median_path_length": 1.1065833924238788, "door_quality": 0.7014924690261226, "door_open_delta": 0.08997213840484619, "step_quality_mean": 0.5735606700373181, "alignment_abs_mean": 0.20966659735253496, "alignment_signed_mean": 0.1066720795853488, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.48509707847772127, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 144, "state": {"door_angle": 0.7265323400497437, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.3108985722064972, -0.09488627314567566, 1.1858255863189697, 0.16567839682102203, 0.891078531742096, 0.4157631993293762, 0.07530428469181061], "right_arm_pose": [0.47783446311950684, -0.15922811627388, 1.0196691751480103, 0.05911668390035629, 0.32307276129722595, 0.928699791431427, 0.17217999696731567], "left_arm_joint_positions": [-0.2701261043548584, 0.02515748143196106, -0.30933043360710144, -1.9452505111694336, 0.8783231973648071, 1.6849849224090576, 0.4530574083328247], "right_arm_joint_positions": [0.26907777786254883, 0.6829352378845215, 0.018839627504348755, -2.408482074737549, -1.050622582435608, 0.5933325290679932, -0.944949746131897], "pregrasp_goal_pose": [0.38774824155131027, 0.1330366200077415, 1.0409316853987987, 0.15530157556157728, 0.7455629256564892, 0.6336380971921327, 0.13608859724959116], "pregrasp_position_error": 0.2808005687773717, "pregrasp_orientation_error_deg": 30.93724295072426}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.4860900237356147, "strict_length": 0.0, "assisted_length": 1.106517337772014, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.08996617794036865, "door_quality": 0.7029128665346274, "step_quality_mean": 0.5755898093351819, "step_quality_min": 0.1595982322754581, "step_quality_max": 0.9284757681365011, "alignment_signed_mean": 0.10532713462043537, "alignment_abs_mean": 0.22022339112914063, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.4077482415513103, 0.1330366200077415, 1.0409316853987987, 0.15530157556157728, 0.7455629256564892, 0.6336380971921327, 0.13608859724959116], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774824155131027, 0.1330366200077415, 1.0409316853987987, 0.15530157556157728, 0.7455629256564892, 0.6336380971921327, 0.13608859724959116], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1191174600314855, "base_score": 0.46152900063339164, "final_score": 0.46152900063339164, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0931863784790039, "door_quality": 0.6702052744622653, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5288646778032361, "step_quality_min": -0.2865782338819158, "step_quality_max": 0.9315503837018182, "alignment_signed_mean": 0.08990044521970923, "alignment_abs_mean": 0.26733570688189856, "alignment_min": -0.8764556828099209, "alignment_max": 0.8764556828099209, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1176201952711369, "base_score": 0.46014478076593884, "final_score": 0.46014478076593884, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0962374210357666, "door_quality": 0.6678617866049311, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5255168380070445, "step_quality_min": -0.3236447994255298, "step_quality_max": 0.9346798537954888, "alignment_signed_mean": 0.09064990512425507, "alignment_abs_mean": 0.2738516236288163, "alignment_min": -0.8970537829312412, "alignment_max": 0.8970537829312412, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.46083689069966527, "score_before_reliability": 0.46083689069966527, "median_path_length": 1.1183688276513113, "door_quality": 0.6690335305335982, "door_open_delta": 0.09471189975738525, "step_quality_mean": 0.5271907579051403, "alignment_abs_mean": 0.27059366525535744, "alignment_signed_mean": 0.09027517517198215, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.46083689069966527, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774824155131025, 0.1330366200077415, 1.0409316853987987, 0.15530157556157728, 0.7455629256564892, 0.6336380971921327, 0.13608859724959116], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1342660551681163, "base_score": 0.3894634160562669, "final_score": 0.3894634160562669, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.08226895332336426, "door_quality": 0.5684188850237539, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.3834555500339341, "step_quality_min": 0.016340804003249665, "step_quality_max": 0.6117257748381817, "alignment_signed_mean": -0.10287914054770207, "alignment_abs_mean": 0.3296602889001976, "alignment_min": -0.9610479155170324, "alignment_max": 0.9610479155170324, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1343295825097384, "base_score": 0.3684587219798774, "final_score": 0.3684587219798774, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.08022522926330566, "door_quality": 0.53777408190215, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.3396772598602144, "step_quality_min": -0.35789997720572453, "step_quality_max": 0.5811446717446044, "alignment_signed_mean": -0.11947021521467549, "alignment_abs_mean": 0.38473317960745057, "alignment_min": -0.9612653078413357, "alignment_max": 0.9612653078413357, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.37896106901807214, "score_before_reliability": 0.37896106901807214, "median_path_length": 1.1342978188389274, "door_quality": 0.5530964834629519, "door_open_delta": 0.08124709129333496, "step_quality_mean": 0.36156640494707426, "alignment_abs_mean": 0.3571967342538241, "alignment_signed_mean": -0.11117467788118879, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.37896106901807214, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077482415513103, 0.1330366200077415, 1.0409316853987987, 0.15530157556157728, 0.7455629256564892, 0.6336380971921327, 0.13608859724959116], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1064965067292791, "base_score": 0.48710103759333956, "final_score": 0.48710103759333956, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.08975362777709961, "door_quality": 0.7043699673081583, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5776713818687975, "step_quality_min": 0.27587868896659407, "step_quality_max": 0.9269250811608453, "alignment_signed_mean": 0.10448720246304537, "alignment_abs_mean": 0.21947648926364102, "alignment_min": -0.5101342864946476, "alignment_max": 0.5101342864946476, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1065381688147489, "base_score": 0.4850790098778899, "final_score": 0.4850790098778899, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0901787281036377, "door_quality": 0.7014557657610965, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5735082368015664, "step_quality_min": 0.1595982322754581, "step_quality_max": 0.9284757681365011, "alignment_signed_mean": 0.10616706677782538, "alignment_abs_mean": 0.22097029299464022, "alignment_min": -0.5247765159452656, "alignment_max": 0.5247765159452656, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4860900237356147, "score_before_reliability": 0.4860900237356147, "median_path_length": 1.106517337772014, "door_quality": 0.7029128665346274, "door_open_delta": 0.08996617794036865, "step_quality_mean": 0.5755898093351819, "alignment_abs_mean": 0.22022339112914063, "alignment_signed_mean": 0.10532713462043537, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.4860900237356147, "source": "assisted"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 145, "state": {"door_angle": 0.7273987531661987, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31088778376579285, -0.09490096569061279, 1.185943603515625, 0.16565124690532684, 0.8910783529281616, 0.41576001048088074, 0.07538431882858276], "right_arm_pose": [0.4777314066886902, -0.1593952775001526, 1.0194870233535767, 0.058882202953100204, 0.32440558075904846, 0.9281513690948486, 0.1727106273174286], "left_arm_joint_positions": [-0.270125150680542, 0.02488735318183899, -0.3093690574169159, -1.9451947212219238, 0.8783377408981323, 1.6849544048309326, 0.45309245586395264], "right_arm_joint_positions": [0.26932358741760254, 0.6819798946380615, 0.019862204790115356, -2.408440113067627, -1.0505377054214478, 0.59499192237854, -0.947494626045227], "pregrasp_goal_pose": [0.38774229135361465, 0.1330433742842998, 1.0409307150678886, 0.15529823744441743, 0.7455620050770894, 0.633639154584489, 0.1360925266483853], "pregrasp_position_error": 0.2808807136118832, "pregrasp_orientation_error_deg": 30.935593706660143}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 60, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.4932972227568164, "strict_length": 0.0, "assisted_length": 1.1066565089403, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.09005963802337646, "door_quality": 0.713367934868652, "step_quality_mean": 0.5905256212409316, "step_quality_min": 0.25701257894598933, "step_quality_max": 0.9267684005107765, "alignment_signed_mean": 0.09336006766446471, "alignment_abs_mean": 0.22581073261109563, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.40774229135361467, 0.1330433742842998, 1.0409307150678886, 0.15529823744441743, 0.7455620050770894, 0.633639154584489, 0.1360925266483853], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774229135361465, 0.1330433742842998, 1.0409307150678886, 0.15529823744441743, 0.7455620050770894, 0.633639154584489, 0.1360925266483853], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193169702385475, "base_score": 0.465862276672808, "final_score": 0.465862276672808, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0956723690032959, "door_quality": 0.676542794009588, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5379182771565544, "step_quality_min": -0.2572298828918156, "step_quality_max": 0.933627390955903, "alignment_signed_mean": 0.09131452556035022, "alignment_abs_mean": 0.25490246474752, "alignment_min": -0.8571201409684646, "alignment_max": 0.8571201409684646, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178318416574577, "base_score": 0.4623967269362037, "final_score": 0.4623967269362037, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09756994247436523, "door_quality": 0.6711776478286792, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5302537826123989, "step_quality_min": -0.32179101634196083, "step_quality_max": 0.9925511968084514, "alignment_signed_mean": 0.07601515765392737, "alignment_abs_mean": 0.2839274013091952, "alignment_min": -0.8771884310374986, "alignment_max": 0.8771884310374986, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.46412950180450585, "score_before_reliability": 0.46412950180450585, "median_path_length": 1.1185744059480025, "door_quality": 0.6738602209191336, "door_open_delta": 0.09662115573883057, "step_quality_mean": 0.5340860298844766, "alignment_abs_mean": 0.2694149330283576, "alignment_signed_mean": 0.0836648416071388, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.46412950180450585, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774229135361464, 0.1330433742842998, 1.0409307150678886, 0.15529823744441743, 0.7455620050770894, 0.633639154584489, 0.1360925266483853], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345844609216293, "base_score": 0.39046067576136456, "final_score": 0.39046067576136456, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0830070972442627, "door_quality": 0.5699348649266289, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.38562123560947, "step_quality_min": -0.05087355862857951, "step_quality_max": 0.7156868013367779, "alignment_signed_mean": -0.0927262987233749, "alignment_abs_mean": 0.2801594743670435, "alignment_min": -0.9725111341761802, "alignment_max": 0.9725111341761802, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1344791748652179, "base_score": 0.3719836716374135, "final_score": 0.3719836716374135, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0830988883972168, "door_quality": 0.5429459008266704, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.34706557260952914, "step_quality_min": -0.27493590159296666, "step_quality_max": 0.7552869915757766, "alignment_signed_mean": -0.07531598250482861, "alignment_abs_mean": 0.31829116184167033, "alignment_min": -0.9636682156017138, "alignment_max": 0.9636682156017138, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.38122217369938904, "score_before_reliability": 0.38122217369938904, "median_path_length": 1.1345318178934236, "door_quality": 0.5564403828766497, "door_open_delta": 0.08305299282073975, "step_quality_mean": 0.36634340410949956, "alignment_abs_mean": 0.29922531810435693, "alignment_signed_mean": -0.08402114061410176, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.38122217369938904, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774229135361467, 0.1330433742842998, 1.0409307150678886, 0.15529823744441743, 0.7455620050770894, 0.633639154584489, 0.1360925266483853], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066677036726935, "base_score": 0.4858563520566934, "final_score": 0.4858563520566934, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0891408920288086, "door_quality": 0.7026101899073656, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5751574141533794, "step_quality_min": 0.25701257894598933, "step_quality_max": 0.9233745130838726, "alignment_signed_mean": 0.1043487515434907, "alignment_abs_mean": 0.22106092544842307, "alignment_min": -0.5089601946333178, "alignment_max": 0.5089601946333178, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1066453142079065, "base_score": 0.5007380934569394, "final_score": 0.5007380934569394, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09097838401794434, "door_quality": 0.7241256798299385, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6058938283284836, "step_quality_min": 0.39581758369614, "step_quality_max": 0.9267684005107765, "alignment_signed_mean": 0.08237138378543872, "alignment_abs_mean": 0.23056053977376817, "alignment_min": -0.5068499597507391, "alignment_max": 0.5068499597507391, "door_contact_steps": 15, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4932972227568164, "score_before_reliability": 0.4932972227568164, "median_path_length": 1.1066565089403, "door_quality": 0.713367934868652, "door_open_delta": 0.09005963802337646, "step_quality_mean": 0.5905256212409316, "alignment_abs_mean": 0.22581073261109563, "alignment_signed_mean": 0.09336006766446471, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.4932972227568164, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 146, "state": {"door_angle": 0.7273164987564087, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31092268228530884, -0.09491532295942307, 1.1859837770462036, 0.1656385362148285, 0.8910829424858093, 0.4157462418079376, 0.07543252408504486], "right_arm_pose": [0.47734174132347107, -0.16022658348083496, 1.0192657709121704, 0.058119986206293106, 0.32837119698524475, 0.9264832735061646, 0.1744225174188614], "left_arm_joint_positions": [-0.27013349533081055, 0.025052815675735474, -0.30939456820487976, -1.9452273845672607, 0.8783146142959595, 1.6849427223205566, 0.4531174898147583], "right_arm_joint_positions": [0.27013587951660156, 0.678257942199707, 0.023426800966262817, -2.408411979675293, -1.0502604246139526, 0.5992999076843262, -0.9560550451278687], "pregrasp_goal_pose": [0.38774172176300004, 0.1330435244978437, 1.0409312075033104, 0.15529619586322174, 0.7455652775470568, 0.6336352942444692, 0.13609490201442767], "pregrasp_position_error": 0.28090327319437985, "pregrasp_orientation_error_deg": 30.935362857935623}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.492049922290295, "strict_length": 0.0, "assisted_length": 1.1066807627978212, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0942462682723999, "door_quality": 0.7115699670972717, "step_quality_mean": 0.5879570958532454, "step_quality_min": 0.41270510469847616, "step_quality_max": 0.9252010262340312, "alignment_signed_mean": 0.10595627631573101, "alignment_abs_mean": 0.2095835342190845, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.40774172176300005, 0.1330435244978437, 1.0409312075033104, 0.15529619586322174, 0.7455652775470568, 0.6336352942444692, 0.13609490201442767], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774172176300004, 0.1330435244978437, 1.0409312075033104, 0.15529619586322174, 0.7455652775470568, 0.6336352942444692, 0.13609490201442767], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119363435938303, "base_score": 0.4640703489703203, "final_score": 0.4640703489703203, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0986635684967041, "door_quality": 0.6739509273711044, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5342156105301491, "step_quality_min": -0.29733482131788164, "step_quality_max": 0.9324385625701851, "alignment_signed_mean": 0.09100949596868509, "alignment_abs_mean": 0.2624889569018214, "alignment_min": -0.8985720176299723, "alignment_max": 0.8985720176299723, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178906314284702, "base_score": 0.4637480817727563, "final_score": 0.4637480817727563, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09788227081298828, "door_quality": 0.6731523564497983, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5330747949282832, "step_quality_min": -0.37870122606336865, "step_quality_max": 0.9281320897915918, "alignment_signed_mean": 0.09407392338516342, "alignment_abs_mean": 0.259432468323912, "alignment_min": -0.8681399409326049, "alignment_max": 0.8681399409326049, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4639092153715383, "score_before_reliability": 0.4639092153715383, "median_path_length": 1.1186270336833866, "door_quality": 0.6735516419104514, "door_open_delta": 0.09827291965484619, "step_quality_mean": 0.5336452027292162, "alignment_abs_mean": 0.2609607126128667, "alignment_signed_mean": 0.09254170967692425, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.4639092153715383, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.367741721763, 0.1330435244978437, 1.0409312075033104, 0.15529619586322174, 0.7455652775470568, 0.6336352942444692, 0.13609490201442767], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345878782970353, "base_score": 0.3880902051157864, "final_score": 0.3880902051157864, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.08400297164916992, "door_quality": 0.566475459172816, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.3806792273897372, "step_quality_min": -0.17918636549167066, "step_quality_max": 0.6107045684088721, "alignment_signed_mean": -0.10116258158822705, "alignment_abs_mean": 0.3034776752507695, "alignment_min": -0.9675733943999006, "alignment_max": 0.9675733943999006, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.134632744955191, "base_score": 0.3884931792667023, "final_score": 0.3884931792667023, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0868837833404541, "door_quality": 0.5670721407816796, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.38153162968811366, "step_quality_min": 0.023233099462984352, "step_quality_max": 0.5859905296132967, "alignment_signed_mean": -0.11539564667119308, "alignment_abs_mean": 0.3190784655336662, "alignment_min": -0.973666168164196, "alignment_max": 0.973666168164196, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.3882916921912444, "score_before_reliability": 0.3882916921912444, "median_path_length": 1.1346103116261133, "door_quality": 0.5667737999772477, "door_open_delta": 0.08544337749481201, "step_quality_mean": 0.38110542853892543, "alignment_abs_mean": 0.3112780703922179, "alignment_signed_mean": -0.10827911412971006, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.3882916921912444, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774172176300005, 0.1330435244978437, 1.0409312075033104, 0.15529619586322174, 0.7455652775470568, 0.6336352942444692, 0.13609490201442767], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106622247137249, "base_score": 0.49248020282940935, "final_score": 0.49248020282940935, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09483885765075684, "door_quality": 0.7121783309601744, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5888261870859633, "step_quality_min": 0.41270510469847616, "step_quality_max": 0.9252010262340312, "alignment_signed_mean": 0.10646234064821371, "alignment_abs_mean": 0.20904464494806682, "alignment_min": -0.4813741019623057, "alignment_max": 0.4813741019623057, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1067392784583931, "base_score": 0.49161964175118067, "final_score": 0.49161964175118067, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09365367889404297, "door_quality": 0.7109616032343691, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5870880046205273, "step_quality_min": 0.4611775163543799, "step_quality_max": 0.9243592699779571, "alignment_signed_mean": 0.10545021198324832, "alignment_abs_mean": 0.21012242349010216, "alignment_min": -0.4727743258743038, "alignment_max": 0.4727743258743038, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.492049922290295, "score_before_reliability": 0.492049922290295, "median_path_length": 1.1066807627978212, "door_quality": 0.7115699670972717, "door_open_delta": 0.0942462682723999, "step_quality_mean": 0.5879570958532454, "alignment_abs_mean": 0.2095835342190845, "alignment_signed_mean": 0.10595627631573101, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.492049922290295, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 147, "state": {"door_angle": 0.7274519205093384, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31089186668395996, -0.0949200764298439, 1.1860238313674927, 0.16561202704906464, 0.8910884261131287, 0.4157409965991974, 0.07545525580644608], "right_arm_pose": [0.4766056537628174, -0.1618485450744629, 1.018963098526001, 0.05663785710930824, 0.33557310700416565, 0.9233976006507874, 0.17753806710243225], "left_arm_joint_positions": [-0.2701241970062256, 0.02486279606819153, -0.3093976676464081, -1.9452104568481445, 0.8782926797866821, 1.6849336624145508, 0.4530907869338989], "right_arm_joint_positions": [0.2716786861419678, 0.6714317798614502, 0.03002503514289856, -2.408229351043701, -1.0497537851333618, 0.6068596839904785, -0.971732497215271], "pregrasp_goal_pose": [0.38774246207641005, 0.1330433686881581, 1.0409296896884104, 0.15529584256752715, 0.7455610204477252, 0.6336402941012463, 0.1360953480522913], "pregrasp_position_error": 0.2809371037649388, "pregrasp_orientation_error_deg": 30.936233758872966}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7638888888888888, "tray_projected_count": 288, "tray_visible_count": 220}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.5036891553645888, "strict_length": 0.0, "assisted_length": 1.1185997753939585, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.10256648063659668, "door_quality": 0.731300067080384, "step_quality_mean": 0.6161429529719771, "step_quality_min": 0.402701313133911, "step_quality_max": 0.9867298061577564, "alignment_signed_mean": 0.07471945761073773, "alignment_abs_mean": 0.2049572476336764, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.38774246207641005, 0.1330433686881581, 1.0409296896884104, 0.15529584256752715, 0.7455610204477252, 0.6336402941012463, 0.1360953480522913], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774246207641005, 0.1330433686881581, 1.0409296896884104, 0.15529584256752715, 0.7455610204477252, 0.6336402941012463, 0.1360953480522913], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1194068262442347, "base_score": 0.4997824456633006, "final_score": 0.4997824456633006, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.10199809074401855, "door_quality": 0.7258246841741895, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6083209773916993, "step_quality_min": 0.47297261860526674, "step_quality_max": 0.9224017873815769, "alignment_signed_mean": 0.09263707679137995, "alignment_abs_mean": 0.19600693434808875, "alignment_min": -0.4216232048914857, "alignment_max": 0.4216232048914857, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.117792724543682, "base_score": 0.507595865065877, "final_score": 0.507595865065877, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1031348705291748, "door_quality": 0.7367754499865784, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6239649285522548, "step_quality_min": 0.402701313133911, "step_quality_max": 0.9867298061577564, "alignment_signed_mean": 0.056801838430095494, "alignment_abs_mean": 0.21390756091926402, "alignment_min": -0.44677316741613005, "alignment_max": 0.44677316741613005, "door_contact_steps": 15, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5036891553645888, "score_before_reliability": 0.5036891553645888, "median_path_length": 1.1185997753939585, "door_quality": 0.731300067080384, "door_open_delta": 0.10256648063659668, "step_quality_mean": 0.6161429529719771, "alignment_abs_mean": 0.2049572476336764, "alignment_signed_mean": 0.07471945761073773, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5036891553645888, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774246207641004, 0.1330433686881581, 1.0409296896884104, 0.15529584256752715, 0.7455610204477252, 0.6336402941012463, 0.1360953480522913], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345853684953706, "base_score": 0.3893067512491316, "final_score": 0.3893067512491316, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.10258007049560547, "door_quality": 0.5682507140560635, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.3832153057943766, "step_quality_min": -0.18088046588776097, "step_quality_max": 0.634392322959367, "alignment_signed_mean": -0.05257715426483241, "alignment_abs_mean": 0.3747172081495505, "alignment_min": -0.9504544337821713, "alignment_max": 0.9504544337821713, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1345730782672712, "base_score": 0.36577237128188117, "final_score": 0.36577237128188117, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09479808807373047, "door_quality": 0.5338966226198005, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.33413803231400074, "step_quality_min": -0.00327681048522499, "step_quality_max": 0.6892206825100277, "alignment_signed_mean": -0.14263838047203153, "alignment_abs_mean": 0.38215880434647664, "alignment_min": -0.9582065870451729, "alignment_max": 0.9582065870451729, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.37753956126550636, "score_before_reliability": 0.37753956126550636, "median_path_length": 1.134579223381321, "door_quality": 0.551073668337932, "door_open_delta": 0.09868907928466797, "step_quality_mean": 0.3586766690541887, "alignment_abs_mean": 0.3784380062480136, "alignment_signed_mean": -0.09760776736843196, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.37753956126550636, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077424620764101, 0.1330433686881581, 1.0409296896884104, 0.15529584256752715, 0.7455610204477252, 0.6336402941012463, 0.1360953480522913], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.10680764100868, "base_score": 0.49365803537038017, "final_score": 0.49365803537038017, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09533834457397461, "door_quality": 0.7139257188659303, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5913224555227575, "step_quality_min": 0.4179930725421987, "step_quality_max": 0.915302557375409, "alignment_signed_mean": 0.10797522449626065, "alignment_abs_mean": 0.20229465193541082, "alignment_min": -0.46197914115426897, "alignment_max": 0.46197914115426897, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.10673477538111, "base_score": 0.49323650898004445, "final_score": 0.49323650898004445, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09570002555847168, "door_quality": 0.7132987843639058, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5904268348055799, "step_quality_min": 0.42611585192352247, "step_quality_max": 0.9166172920433292, "alignment_signed_mean": 0.10770444298676383, "alignment_abs_mean": 0.20593853259939993, "alignment_min": -0.4637497531257642, "alignment_max": 0.4637497531257642, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.49344727217521234, "score_before_reliability": 0.49344727217521234, "median_path_length": 1.106771208194895, "door_quality": 0.713612251614918, "door_open_delta": 0.09551918506622314, "step_quality_mean": 0.5908746451641687, "alignment_abs_mean": 0.20411659226740536, "alignment_signed_mean": 0.10783983374151224, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.49344727217521234, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 148, "state": {"door_angle": 0.7235525846481323, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3108963072299957, -0.09490273892879486, 1.1860244274139404, 0.1656126230955124, 0.8910820484161377, 0.4157488942146301, 0.07548636943101883], "right_arm_pose": [0.47548824548721313, -0.1643240749835968, 1.0185476541519165, 0.05415346100926399, 0.3461056351661682, 0.918761670589447, 0.1820858120918274], "left_arm_joint_positions": [-0.2701246738433838, 0.024703294038772583, -0.30936548113822937, -1.9452345371246338, 0.8783656358718872, 1.684971570968628, 0.4531513452529907], "right_arm_joint_positions": [0.27391743659973145, 0.6613945960998535, 0.039721518754959106, -2.4080734252929688, -1.0489987134933472, 0.6178510189056396, -0.9948960542678833], "pregrasp_goal_pose": [0.38774221974937473, 0.13304359293525325, 1.0409313175720951, 0.15529861246243137, 0.7455630860877096, 0.6336378870492554, 0.136092078117607], "pregrasp_position_error": 0.2809214036074656, "pregrasp_orientation_error_deg": 30.933835044692927}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.5033670011534002, "strict_length": 0.0, "assisted_length": 1.1185298478312158, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.10028731822967529, "door_quality": 0.7308168420286898, "step_quality_mean": 0.615452631469557, "step_quality_min": 0.46492544673234104, "step_quality_max": 0.9169678569467087, "alignment_signed_mean": 0.09426505751076163, "alignment_abs_mean": 0.17566053508679522, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.38774221974937473, 0.13304359293525325, 1.0409313175720951, 0.15529861246243137, 0.7455630860877096, 0.6336378870492554, 0.136092078117607], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774221974937473, 0.13304359293525325, 1.0409313175720951, 0.15529861246243137, 0.7455630860877096, 0.6336378870492554, 0.136092078117607], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119329412022869, "base_score": 0.5034114124036081, "final_score": 0.5034114124036081, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09895157814025879, "door_quality": 0.7310760991228376, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6158229987469109, "step_quality_min": 0.46492544673234104, "step_quality_max": 0.8951287332065968, "alignment_signed_mean": 0.09086177727232178, "alignment_abs_mean": 0.17547037115656763, "alignment_min": -0.3584972742618444, "alignment_max": 0.3584972742618444, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1177302836395626, "base_score": 0.5033225899031923, "final_score": 0.5033225899031923, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1016230583190918, "door_quality": 0.730557584934542, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.615082264192203, "step_quality_min": 0.4796784568045924, "step_quality_max": 0.9169678569467087, "alignment_signed_mean": 0.09766833774920147, "alignment_abs_mean": 0.1758506990170228, "alignment_min": -0.39126214852666596, "alignment_max": 0.39126214852666596, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5033670011534002, "score_before_reliability": 0.5033670011534002, "median_path_length": 1.1185298478312158, "door_quality": 0.7308168420286898, "door_open_delta": 0.10028731822967529, "step_quality_mean": 0.615452631469557, "alignment_abs_mean": 0.17566053508679522, "alignment_signed_mean": 0.09426505751076163, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5033670011534002, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677422197493747, 0.13304359293525325, 1.0409313175720951, 0.15529861246243137, 0.7455630860877096, 0.6336378870492554, 0.136092078117607], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134544858781195, "base_score": 0.4841080629321314, "final_score": 0.4841080629321314, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.10780596733093262, "door_quality": 0.7066176913551383, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5808824162216262, "step_quality_min": -0.2808823703347793, "step_quality_max": 0.9005174237997602, "alignment_signed_mean": 0.08410017424243123, "alignment_abs_mean": 0.23038298626982562, "alignment_min": -0.8714864600047993, "alignment_max": 0.8714864600047993, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.134596986483951, "base_score": 0.49087342890760305, "final_score": 0.49087342890760305, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.10794830322265625, "door_quality": 0.7165050588831696, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5950072269759566, "step_quality_min": -0.07839437238962199, "step_quality_max": 0.9018328910858479, "alignment_signed_mean": 0.08413014400672633, "alignment_abs_mean": 0.2145681210905328, "alignment_min": -0.7711306550943308, "alignment_max": 0.7711306550943308, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4874907459198672, "score_before_reliability": 0.4874907459198672, "median_path_length": 1.134570922632573, "door_quality": 0.711561375119154, "door_open_delta": 0.10787713527679443, "step_quality_mean": 0.5879448215987915, "alignment_abs_mean": 0.2224755536801792, "alignment_signed_mean": 0.08411515912457879, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.4874907459198672, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774221974937475, 0.13304359293525325, 1.0409313175720951, 0.15529861246243137, 0.7455630860877096, 0.6336378870492554, 0.136092078117607], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066790280576884, "base_score": 0.4962828270662854, "final_score": 0.4962828270662854, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09848785400390625, "door_quality": 0.717690910379612, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5967013005423029, "step_quality_min": 0.4937160219553574, "step_quality_max": 0.9148682117727939, "alignment_signed_mean": 0.11016154408780492, "alignment_abs_mean": 0.2042715340473751, "alignment_min": -0.3900656247695848, "alignment_max": 0.3900656247695848, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1065913345541725, "base_score": 0.4973028659375081, "final_score": 0.4973028659375081, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.09617185592651367, "door_quality": 0.7191450003672744, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5987785719532492, "step_quality_min": 0.49441787140198, "step_quality_max": 0.9152161018541484, "alignment_signed_mean": 0.10794447612993986, "alignment_abs_mean": 0.19051657274578643, "alignment_min": -0.38027617976283146, "alignment_max": 0.38027617976283146, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.49679284650189676, "score_before_reliability": 0.49679284650189676, "median_path_length": 1.1066351813059305, "door_quality": 0.7184179553734431, "door_open_delta": 0.09732985496520996, "step_quality_mean": 0.597739936247776, "alignment_abs_mean": 0.19739405339658078, "alignment_signed_mean": 0.10905301010887239, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.49679284650189676, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 149, "state": {"door_angle": 0.7258390188217163, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109244108200073, -0.09491870552301407, 1.185983419418335, 0.16563859581947327, 0.8910884857177734, 0.41572898626327515, 0.07546308636665344], "right_arm_pose": [0.4739600419998169, -0.16770941019058228, 1.0179040431976318, 0.050367508083581924, 0.3603801727294922, 0.9123015999794006, 0.18786971271038055], "left_arm_joint_positions": [-0.27013516426086426, 0.024962931871414185, -0.30937477946281433, -1.945234775543213, 0.87834632396698, 1.6849792003631592, 0.4530998468399048], "right_arm_joint_positions": [0.2769646644592285, 0.6480717658996582, 0.052615195512771606, -2.407834053039551, -1.0479925870895386, 0.6337134838104248, -1.0258070230484009], "pregrasp_goal_pose": [0.3877423829575033, 0.13304384225843166, 1.040931220521715, 0.15529582311187334, 0.7455657069999152, 0.6336347868746346, 0.13609533692253614], "pregrasp_position_error": 0.2809057928186417, "pregrasp_orientation_error_deg": 30.936466204668807}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 15, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7673611111111112, "tray_projected_count": 288, "tray_visible_count": 221}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.5122747847094206, "strict_length": 0.0, "assisted_length": 1.1185759361967782, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.11083483695983887, "door_quality": 0.7437608989583142, "step_quality_mean": 0.6339441413690203, "step_quality_min": 0.5063595124072701, "step_quality_max": 0.9468220744592004, "alignment_signed_mean": 0.01605541814062502, "alignment_abs_mean": 0.19176371825451297, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3877423829575033, 0.13304384225843166, 1.040931220521715, 0.15529582311187334, 0.7455657069999152, 0.6336347868746346, 0.13609533692253614], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877423829575033, 0.13304384225843166, 1.040931220521715, 0.15529582311187334, 0.7455657069999152, 0.6336347868746346, 0.13609533692253614], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193059796393041, "base_score": 0.5117818659765918, "final_score": 0.5117818659765918, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11127114295959473, "door_quality": 0.7432262331609696, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6331803330870994, "step_quality_min": 0.5063595124072701, "step_quality_max": 0.9468220744592004, "alignment_signed_mean": 0.03716622275724842, "alignment_abs_mean": 0.16405500419070634, "alignment_min": -0.4040759844723969, "alignment_max": 0.4040759844723969, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178458927542523, "base_score": 0.5127677034422493, "final_score": 0.5127677034422493, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11039853096008301, "door_quality": 0.7442955647556587, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6347079496509411, "step_quality_min": 0.507493288284498, "step_quality_max": 0.9410802906588894, "alignment_signed_mean": -0.0050553864759983825, "alignment_abs_mean": 0.2194724323183196, "alignment_min": -0.40082005798137005, "alignment_max": 0.40082005798137005, "door_contact_steps": 17, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5122747847094206, "score_before_reliability": 0.5122747847094206, "median_path_length": 1.1185759361967782, "door_quality": 0.7437608989583142, "door_open_delta": 0.11083483695983887, "step_quality_mean": 0.6339441413690203, "alignment_abs_mean": 0.19176371825451297, "alignment_signed_mean": 0.01605541814062502, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5122747847094206, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677423829575033, 0.13304384225843166, 1.040931220521715, 0.15529582311187334, 0.7455657069999152, 0.6336347868746346, 0.13609533692253614], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345202933862042, "base_score": 0.38674692627924206, "final_score": 0.38674692627924206, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.10828733444213867, "door_quality": 0.5645020262174676, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.3778600374535251, "step_quality_min": -0.022078999529028254, "step_quality_max": 0.6771013270709545, "alignment_signed_mean": 0.017500209451312008, "alignment_abs_mean": 0.3325767744187748, "alignment_min": -0.949412903221772, "alignment_max": 0.8658580113738157, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.134451559646616, "base_score": 0.4467041938174683, "final_score": 0.4467041938174683, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11461758613586426, "door_quality": 0.6520016787147176, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5028595410210251, "step_quality_min": 0.12957669737944577, "step_quality_max": 0.7562398608008563, "alignment_signed_mean": -0.15002705327285945, "alignment_abs_mean": 0.2711474856888224, "alignment_min": -0.9344836923362353, "alignment_max": 0.9076567846771635, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.41672556004835515, "score_before_reliability": 0.41672556004835515, "median_path_length": 1.13448592651641, "door_quality": 0.6082518524660926, "door_open_delta": 0.11145246028900146, "step_quality_mean": 0.44035978923727515, "alignment_abs_mean": 0.3018621300537986, "alignment_signed_mean": -0.06626342191077372, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.41672556004835515, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077423829575033, 0.13304384225843166, 1.040931220521715, 0.15529582311187334, 0.7455657069999152, 0.6336347868746346, 0.13609533692253614], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066434339466005, "base_score": 0.4998359163063393, "final_score": 0.4998359163063393, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.10410523414611816, "door_quality": 0.7228205734265034, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6040293906092907, "step_quality_min": 0.4922948289347073, "step_quality_max": 0.9396977723578339, "alignment_signed_mean": 0.03122357437286158, "alignment_abs_mean": 0.20943972421607815, "alignment_min": -0.3352014728595238, "alignment_max": 0.3352014728595238, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1066575681046107, "base_score": 0.5007163564068793, "final_score": 0.5007163564068793, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.103271484375, "door_quality": 0.7240972031852868, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6058531474075526, "step_quality_min": 0.4941932663784484, "step_quality_max": 0.9421290452625335, "alignment_signed_mean": 0.030625174767042358, "alignment_abs_mean": 0.2133373083112781, "alignment_min": -0.3511626070617931, "alignment_max": 0.3511626070617931, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5002761363566093, "score_before_reliability": 0.5002761363566093, "median_path_length": 1.1066505010256056, "door_quality": 0.7234588883058951, "door_open_delta": 0.10368835926055908, "step_quality_mean": 0.6049412690084217, "alignment_abs_mean": 0.2113885162636781, "alignment_signed_mean": 0.03092437456995197, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5002761363566093, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 150, "state": {"door_angle": 0.7275112867355347, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109104335308075, -0.09492097795009613, 1.1860246658325195, 0.16562502086162567, 0.8910913467407227, 0.4157213866710663, 0.07550026476383209], "right_arm_pose": [0.47211360931396484, -0.17171929776668549, 1.0169159173965454, 0.045135945081710815, 0.37754517793655396, 0.9042406678199768, 0.19434818625450134], "left_arm_joint_positions": [-0.27013397216796875, 0.024903088808059692, -0.3093850314617157, -1.945131540298462, 0.8783231973648071, 1.6849703788757324, 0.453091025352478], "right_arm_joint_positions": [0.2804992198944092, 0.6323342323303223, 0.06777003407478333, -2.407536506652832, -1.046834111213684, 0.6530852317810059, -1.0621751546859741], "pregrasp_goal_pose": [0.3877417481883414, 0.1330435700483391, 1.0409309435047571, 0.15529858396933002, 0.745561975666019, 0.6336391916752909, 0.13609211965131265], "pregrasp_position_error": 0.2809325084696709, "pregrasp_orientation_error_deg": 30.936878611970403}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 3, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7638888888888888, "tray_projected_count": 288, "tray_visible_count": 220}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.5108061370294037, "strict_length": 0.0, "assisted_length": 1.118565846021704, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.11507117748260498, "door_quality": 0.7416252247766824, "step_quality_mean": 0.6308931782524035, "step_quality_min": 0.42692443126629254, "step_quality_max": 0.9723602571703021, "alignment_signed_mean": 0.09088326434814709, "alignment_abs_mean": 0.17015024922642671, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3877417481883414, 0.1330435700483391, 1.0409309435047571, 0.15529858396933002, 0.745561975666019, 0.6336391916752909, 0.13609211965131265], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877417481883414, 0.1330435700483391, 1.0409309435047571, 0.15529858396933002, 0.745561975666019, 0.6336391916752909, 0.13609211965131265], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193114241708189, "base_score": 0.5078796290062201, "final_score": 0.5078796290062201, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1161966323852539, "door_quality": 0.7375606165606117, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6250865950865883, "step_quality_min": 0.5082248811128587, "step_quality_max": 0.9369059587104365, "alignment_signed_mean": 0.09996488975922263, "alignment_abs_mean": 0.17009199325820923, "alignment_min": -0.3134038240982967, "alignment_max": 0.3134038240982967, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178202678725893, "base_score": 0.5137326450525872, "final_score": 0.5137326450525872, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11394572257995605, "door_quality": 0.7456898329927532, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6366997614182188, "step_quality_min": 0.42692443126629254, "step_quality_max": 0.9723602571703021, "alignment_signed_mean": 0.08180163893707153, "alignment_abs_mean": 0.1702085051946442, "alignment_min": -0.3276014921081331, "alignment_max": 0.3276014921081331, "door_contact_steps": 18, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5108061370294037, "score_before_reliability": 0.5108061370294037, "median_path_length": 1.118565846021704, "door_quality": 0.7416252247766824, "door_open_delta": 0.11507117748260498, "step_quality_mean": 0.6308931782524035, "alignment_abs_mean": 0.17015024922642671, "alignment_signed_mean": 0.09088326434814709, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5108061370294037, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677417481883414, 0.1330435700483391, 1.0409309435047571, 0.15529858396933002, 0.745561975666019, 0.6336391916752909, 0.13609211965131265], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345864775493482, "base_score": 0.3873450254151223, "final_score": 0.3873450254151223, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.182450532913208, "door_quality": 0.5653874944190715, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.3791249920272451, "step_quality_min": -0.1747640366272687, "step_quality_max": 0.6383203973074004, "alignment_signed_mean": -0.1929794639455717, "alignment_abs_mean": 0.47082874596152385, "alignment_min": -0.95698970969298, "alignment_max": 0.9322857704240999, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.134623574072537, "base_score": 0.3818397231103856, "final_score": 0.3818397231103856, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13404250144958496, "door_quality": 0.5573585814392559, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.36765511634179404, "step_quality_min": -0.008849274579420585, "step_quality_max": 0.6267222381069442, "alignment_signed_mean": -0.06060354152485348, "alignment_abs_mean": 0.3568521110704582, "alignment_min": -0.9564382064554255, "alignment_max": 0.8974752831678282, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.38459237426275394, "score_before_reliability": 0.38459237426275394, "median_path_length": 1.1346050258109426, "door_quality": 0.5613730379291637, "door_open_delta": 0.15824651718139648, "step_quality_mean": 0.37339005418451954, "alignment_abs_mean": 0.413840428515991, "alignment_signed_mean": -0.12679150273521259, "collision_count": 1.5, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.38459237426275394, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077417481883414, 0.1330435700483391, 1.0409309435047571, 0.15529858396933002, 0.745561975666019, 0.6336391916752909, 0.13609211965131265], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106710157839185, "base_score": 0.4992866744214564, "final_score": 0.4992866744214564, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.10675454139709473, "door_quality": 0.722042365085993, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6029176644085614, "step_quality_min": 0.492435191956223, "step_quality_max": 0.9282552080787494, "alignment_signed_mean": 0.11847227575929464, "alignment_abs_mean": 0.19426990446036208, "alignment_min": -0.32434134564937933, "alignment_max": 0.32434134564937933, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1067051508994465, "base_score": 0.4978455063405965, "final_score": 0.4978455063405965, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.10643291473388672, "door_quality": 0.7199570213281741, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5999386018973916, "step_quality_min": 0.49293073949196153, "step_quality_max": 0.9235341325252698, "alignment_signed_mean": 0.11790836385685784, "alignment_abs_mean": 0.18908107511994776, "alignment_min": -0.3015732561290863, "alignment_max": 0.3015732561290863, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.49856609038102645, "score_before_reliability": 0.49856609038102645, "median_path_length": 1.1067076543693157, "door_quality": 0.7209996932070835, "door_open_delta": 0.10659372806549072, "step_quality_mean": 0.6014281331529765, "alignment_abs_mean": 0.19167548979015492, "alignment_signed_mean": 0.11819031980807623, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.49856609038102645, "source": "assisted"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 151, "state": {"door_angle": 0.7277129888534546, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31091955304145813, -0.09492283314466476, 1.186055064201355, 0.16561710834503174, 0.8910895586013794, 0.41572752594947815, 0.07550551742315292], "right_arm_pose": [0.47010669112205505, -0.17615975439548492, 1.015824556350708, 0.03867093101143837, 0.3954631984233856, 0.8954123854637146, 0.2008734792470932], "left_arm_joint_positions": [-0.27013611793518066, 0.024818211793899536, -0.30937716364860535, -1.9450819492340088, 0.8783367872238159, 1.6849641799926758, 0.4531058073043823], "right_arm_joint_positions": [0.28418397903442383, 0.6158947944641113, 0.0836654007434845, -2.4072604179382324, -1.0456494092941284, 0.673302412033081, -1.1005932092666626], "pregrasp_goal_pose": [0.3877426493535445, 0.13304410453217336, 1.0409293312672803, 0.15529549237873255, 0.7455606574718397, 0.6336407180649404, 0.13609576219394928], "pregrasp_position_error": 0.2809487340430347, "pregrasp_orientation_error_deg": 30.93635332760643}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 10, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 100, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 57, "tray_visibility": 0.7638888888888888, "tray_projected_count": 288, "tray_visible_count": 220}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.38535662071995996, "strict_length": 0.0, "assisted_length": 1.1346196107936692, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.4979572296142578, "door_quality": 0.5624912127137898, "step_quality_mean": 0.37498744673398554, "step_quality_min": -0.09990417059202628, "step_quality_max": 0.8878287084214231, "alignment_signed_mean": -0.30983004867751057, "alignment_abs_mean": 0.6530334626873022, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3677426493535445, 0.13304410453217336, 1.0409293312672803, 0.15529549237873255, 0.7455606574718397, 0.6336407180649404, 0.13609576219394928], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877426493535445, 0.13304410453217336, 1.0409293312672803, 0.15529549237873255, 0.7455606574718397, 0.6336407180649404, 0.13609576219394928], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1194034949131006, "base_score": 0.5098181085241461, "final_score": 0.5098181085241461, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11789584159851074, "door_quality": 0.7403984671929446, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6291406674184923, "step_quality_min": 0.5082722077871794, "step_quality_max": 0.9374566267693061, "alignment_signed_mean": 0.10585700305665502, "alignment_abs_mean": 0.16629183776727716, "alignment_min": -0.292006973852756, "alignment_max": 0.292006973852756, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178431986919617, "base_score": 0.43034677922685455, "final_score": 0.7151733896134272, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.5454559763485356, "door_open_delta": 0.4981975555419922, "door_quality": 0.6246589036216761, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4637984337452517, "step_quality_min": -0.07192086913893248, "step_quality_max": 0.9743176245861432, "alignment_signed_mean": -0.22811015052612088, "alignment_abs_mean": 0.5603555291071904, "alignment_min": -0.9631622763255004, "alignment_max": 0.9631622763255004, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.47008244387550036, "score_before_reliability": 0.6124957490687867, "median_path_length": 1.118623346802531, "door_quality": 0.6825286854073103, "door_open_delta": 0.30804669857025146, "step_quality_mean": 0.546469550581872, "alignment_abs_mean": 0.3633236834372338, "alignment_signed_mean": -0.06112657373473293, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6124957490687867, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677426493535445, 0.13304410453217336, 1.0409293312672803, 0.15529549237873255, 0.7455606574718397, 0.6336407180649404, 0.13609576219394928], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345978921175368, "base_score": 0.3969593029166162, "final_score": 0.698479651458308, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.9177028440042745, "door_open_delta": 0.49935102462768555, "door_quality": 0.5794231625137615, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.39917594644823073, "step_quality_min": -0.09990417059202628, "step_quality_max": 0.8878287084214231, "alignment_signed_mean": -0.30776643003283966, "alignment_abs_mean": 0.6224554888206741, "alignment_min": -0.9800386548914172, "alignment_max": 0.9800386548914172, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.134641329469802, "base_score": 0.37375393852330374, "final_score": 0.6868769692616519, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 1.1291078887549826, "door_open_delta": 0.4965634346008301, "door_quality": 0.5455592629138182, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.3507989470197403, "step_quality_min": -0.08794722184745307, "step_quality_max": 0.76162515929673, "alignment_signed_mean": -0.3118936673221815, "alignment_abs_mean": 0.6836114365539304, "alignment_min": -0.9807134512161986, "alignment_max": 0.9807134512161986, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.38535662071995996, "score_before_reliability": 0.69267831035998, "median_path_length": 1.1346196107936692, "door_quality": 0.5624912127137898, "door_open_delta": 0.4979572296142578, "step_quality_mean": 0.37498744673398554, "alignment_abs_mean": 0.6530334626873022, "alignment_signed_mean": -0.30983004867751057, "collision_count": 1.5, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.69267831035998, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774264935354454, 0.13304410453217336, 1.0409293312672803, 0.15529549237873255, 0.7455606574718397, 0.6336407180649404, 0.13609576219394928], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106786215062101, "base_score": 0.5058986939673529, "final_score": 0.5058986939673529, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1120920181274414, "door_quality": 0.7316228712924725, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6166041018463894, "step_quality_min": 0.492946109323569, "step_quality_max": 0.9231751963175286, "alignment_signed_mean": 0.12750500720982855, "alignment_abs_mean": 0.16253722622804426, "alignment_min": -0.24741455533202195, "alignment_max": 0.24741455533202195, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1067705587477863, "base_score": 0.5035400431566156, "final_score": 0.5035400431566156, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11208248138427734, "door_quality": 0.7282080265876345, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6117257522680494, "step_quality_min": 0.4902095834198134, "step_quality_max": 0.926882353933434, "alignment_signed_mean": 0.1274362068707573, "alignment_abs_mean": 0.16470827938029176, "alignment_min": -0.26410585725121094, "alignment_max": 0.26410585725121094, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5047193685619842, "score_before_reliability": 0.5047193685619842, "median_path_length": 1.1067783869049437, "door_quality": 0.7299154489400534, "door_open_delta": 0.11208724975585938, "step_quality_mean": 0.6141649270572194, "alignment_abs_mean": 0.163622752804168, "alignment_signed_mean": 0.12747060704029292, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5047193685619842, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 152, "state": {"door_angle": 0.7243903875350952, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3108948767185211, -0.09492911398410797, 1.186018466949463, 0.16564740240573883, 0.8910807967185974, 0.4157375991344452, 0.07548670470714569], "right_arm_pose": [0.46802422404289246, -0.1809660792350769, 1.0149246454238892, 0.031225038692355156, 0.41297072172164917, 0.8863168954849243, 0.20717784762382507], "left_arm_joint_positions": [-0.2701416015625, 0.024851828813552856, -0.30937692523002625, -1.9453377723693848, 0.8783441781997681, 1.6850452423095703, 0.4530884027481079], "right_arm_joint_positions": [0.2879161834716797, 0.5992166996002197, 0.09978106617927551, -2.4069290161132812, -1.0443755388259888, 0.6930451393127441, -1.1397672891616821], "pregrasp_goal_pose": [0.3877483891332007, 0.13303746686797618, 1.040929333209846, 0.15529822272991917, 0.7455578083030537, 0.6336440859886336, 0.13609257432683158], "pregrasp_position_error": 0.2809378598287806, "pregrasp_orientation_error_deg": 30.93588539678712}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 29, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 172, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.5070591136697878, "strict_length": 0.0, "assisted_length": 1.1067606452981829, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.1233515739440918, "door_quality": 0.7332948169504446, "step_quality_mean": 0.6189925956434923, "step_quality_min": 0.37528345743151853, "step_quality_max": 0.9257478591450403, "alignment_signed_mean": 0.10515669905198297, "alignment_abs_mean": 0.20884978728497622, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.4077483891332007, 0.13303746686797618, 1.040929333209846, 0.15529822272991917, 0.7455578083030537, 0.6336440859886336, 0.13609257432683158], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877483891332007, 0.13303746686797618, 1.040929333209846, 0.15529822272991917, 0.7455578083030537, 0.6336440859886336, 0.13609257432683158], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193413654822983, "base_score": 0.529052571242749, "final_score": 0.529052571242749, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12456130981445312, "door_quality": 0.7683163742392531, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6690233917703616, "step_quality_min": 0.441721285892491, "step_quality_max": 0.9354629516279713, "alignment_signed_mean": 0.06782969436062905, "alignment_abs_mean": 0.13808361249237516, "alignment_min": -0.22358972596430204, "alignment_max": 0.2637978568458483, "door_contact_steps": 17, "path_steps": 28}, {"path_found": true, "path_length": 1.117904920555969, "base_score": 0.516060557966291, "final_score": 0.516060557966291, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12471413612365723, "door_quality": 0.7490899670412674, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6415570957732393, "step_quality_min": 0.5032180965324002, "step_quality_max": 0.9344495542041855, "alignment_signed_mean": 0.09790706311806956, "alignment_abs_mean": 0.1553738398497253, "alignment_min": -0.36525143566841073, "alignment_max": 0.36525143566841073, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.52255656460452, "score_before_reliability": 0.52255656460452, "median_path_length": 1.1186231430191338, "door_quality": 0.7587031706402603, "door_open_delta": 0.12463772296905518, "step_quality_mean": 0.6552902437718005, "alignment_abs_mean": 0.14672872617105023, "alignment_signed_mean": 0.0828683787393493, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.52255656460452, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677483891332007, 0.13303746686797618, 1.040929333209846, 0.15529822272991917, 0.7455578083030537, 0.6336440859886336, 0.13609257432683158], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345440740164496, "base_score": 0.41156286755397586, "final_score": 0.41156286755397586, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1258563995361328, "door_quality": 0.6007285346222462, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4296121923174945, "step_quality_min": 0.022432622896666143, "step_quality_max": 0.7443151628959959, "alignment_signed_mean": -0.12103434901167034, "alignment_abs_mean": 0.33842259607813774, "alignment_min": -0.9551044970456408, "alignment_max": 0.8444026858887526, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1345952588697528, "base_score": 0.3830061333135692, "final_score": 0.6915030666567846, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 1.8854129478314985, "door_open_delta": 0.1585831642150879, "door_quality": 0.5590558745035812, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.3700798207194018, "step_quality_min": 0.03336282899624382, "step_quality_max": 0.721372688171656, "alignment_signed_mean": -0.04577024668588159, "alignment_abs_mean": 0.3304073981154772, "alignment_min": -0.9625651434748859, "alignment_max": 0.9447824478035141, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.3972845004337725, "score_before_reliability": 0.5515329671053802, "median_path_length": 1.134569666443101, "door_quality": 0.5798922045629137, "door_open_delta": 0.14221978187561035, "step_quality_mean": 0.39984600651844815, "alignment_abs_mean": 0.33441499709680744, "alignment_signed_mean": -0.08340229784877597, "collision_count": 1.5, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.5515329671053802, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077483891332007, 0.13303746686797618, 1.040929333209846, 0.15529822272991917, 0.7455578083030537, 0.6336440859886336, 0.13609257432683158], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1067679304146416, "base_score": 0.5112461680584547, "final_score": 0.7556230840292273, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.02637900883852548, "door_open_delta": 0.12599515914916992, "door_quality": 0.73935179938844, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6276454276977714, "step_quality_min": 0.4944506179072146, "step_quality_max": 0.9257478591450403, "alignment_signed_mean": 0.11781070478551312, "alignment_abs_mean": 0.1929474891890037, "alignment_min": -0.4877334253986947, "alignment_max": 0.4877334253986947, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.106753360181724, "base_score": 0.502872059281121, "final_score": 0.7514360296405604, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.015406677787817548, "door_open_delta": 0.12070798873901367, "door_quality": 0.7272378345124493, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6103397635892133, "step_quality_min": 0.37528345743151853, "step_quality_max": 0.9238654791790906, "alignment_signed_mean": 0.09250269331845283, "alignment_abs_mean": 0.22475208538094876, "alignment_min": -0.6001816636978368, "alignment_max": 0.6001816636978368, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5070591136697878, "score_before_reliability": 0.7535295568348939, "median_path_length": 1.1067606452981829, "door_quality": 0.7332948169504446, "door_open_delta": 0.1233515739440918, "step_quality_mean": 0.6189925956434923, "alignment_abs_mean": 0.20884978728497622, "alignment_signed_mean": 0.10515669905198297, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7535295568348939, "source": "assisted"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 153, "state": {"door_angle": 0.7251323461532593, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3108953833580017, -0.09492179751396179, 1.185986042022705, 0.1656491905450821, 0.8910801410675049, 0.41574525833129883, 0.07544784247875214], "right_arm_pose": [0.46588829159736633, -0.18608400225639343, 1.0142022371292114, 0.022914158180356026, 0.4299522638320923, 0.8770500421524048, 0.21307110786437988], "left_arm_joint_positions": [-0.27013111114501953, 0.02484014630317688, -0.3093580901622772, -1.9453034400939941, 0.8783572912216187, 1.6850366592407227, 0.45312726497650146], "right_arm_joint_positions": [0.29167866706848145, 0.5824968814849854, 0.1159696877002716, -2.406674385070801, -1.0431240797042847, 0.7124173641204834, -1.179179310798645], "pregrasp_goal_pose": [0.3877420335673527, 0.13304377516020363, 1.0409316976224, 0.1553026621749934, 0.7455600097977709, 0.6336415314725669, 0.13608734145690315], "pregrasp_position_error": 0.2809171991930378, "pregrasp_orientation_error_deg": 30.935615236481905}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 55, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 225, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.504650738541933, "strict_length": 0.0, "assisted_length": 1.134541065407027, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.13908815383911133, "door_quality": 0.736601093730377, "step_quality_mean": 0.6237158481862528, "step_quality_min": 0.17050846423021493, "step_quality_max": 0.9666683039720898, "alignment_signed_mean": -0.061480943474127345, "alignment_abs_mean": 0.2758537032531641, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3677420335673527, 0.13304377516020363, 1.0409316976224, 0.1553026621749934, 0.7455600097977709, 0.6336415314725669, 0.13608734145690315], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877420335673527, 0.13304377516020363, 1.0409316976224, 0.1553026621749934, 0.7455600097977709, 0.6336415314725669, 0.13608734145690315], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119352608130861, "base_score": 0.5172403169229275, "final_score": 0.7586201584614638, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.012213871473406527, "door_open_delta": 0.13047051429748535, "door_quality": 0.7511648478898889, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6445212112712699, "step_quality_min": 0.47512287076482224, "step_quality_max": 0.9351467299624007, "alignment_signed_mean": 0.06451492212122413, "alignment_abs_mean": 0.17580200723274095, "alignment_min": -0.6152067013515065, "alignment_max": 0.6152067013515065, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178868338186019, "base_score": 0.5163934375738058, "final_score": 0.5163934375738058, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13007760047912598, "door_quality": 0.7495686407986689, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.64224091542667, "step_quality_min": 0.4726205176831795, "step_quality_max": 0.9290505453567242, "alignment_signed_mean": 0.05888838357473042, "alignment_abs_mean": 0.1801913493866254, "alignment_min": -0.6216969335989246, "alignment_max": 0.17430816871095675, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5168168772483667, "score_before_reliability": 0.6375067980176348, "median_path_length": 1.1186197209747313, "door_quality": 0.750366744344279, "door_open_delta": 0.13027405738830566, "step_quality_mean": 0.6433810633489699, "alignment_abs_mean": 0.1779966783096832, "alignment_signed_mean": 0.061701652847977274, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6375067980176348, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677420335673527, 0.13304377516020363, 1.0409316976224, 0.1553026621749934, 0.7455600097977709, 0.6336415314725669, 0.13608734145690315], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345005531353443, "base_score": 0.521450069598819, "final_score": 0.7607250347994094, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.010244163105958068, "door_open_delta": 0.13948965072631836, "door_quality": 0.7611118898529818, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6587312712185455, "step_quality_min": 0.491086173348438, "step_quality_max": 0.9666683039720898, "alignment_signed_mean": 0.07861138551414862, "alignment_abs_mean": 0.1675945460954599, "alignment_min": -0.5761659647639906, "alignment_max": 0.5761659647639906, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1345815776787098, "base_score": 0.487851407485047, "final_score": 0.7439257037425235, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.009746561465408973, "door_open_delta": 0.1386866569519043, "door_quality": 0.7120902976077721, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5887004251539603, "step_quality_min": 0.17050846423021493, "step_quality_max": 0.9356046195223695, "alignment_signed_mean": -0.2015732724624033, "alignment_abs_mean": 0.38411286041086834, "alignment_min": -0.913787855164498, "alignment_max": 0.5657094842125352, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.504650738541933, "score_before_reliability": 0.7523253692709665, "median_path_length": 1.134541065407027, "door_quality": 0.736601093730377, "door_open_delta": 0.13908815383911133, "step_quality_mean": 0.6237158481862528, "alignment_abs_mean": 0.2758537032531641, "alignment_signed_mean": -0.061480943474127345, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7523253692709665, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077420335673527, 0.13304377516020363, 1.0409316976224, 0.1553026621749934, 0.7455600097977709, 0.6336415314725669, 0.13608734145690315], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.10672465008151, "base_score": 0.5086197772014383, "final_score": 0.5086197772014383, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1138772964477539, "door_quality": 0.7355429650868209, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6222042358383156, "step_quality_min": 0.4933655410429386, "step_quality_max": 0.9243721114128445, "alignment_signed_mean": 0.12470090309149517, "alignment_abs_mean": 0.16405842307563537, "alignment_min": -0.23614511990484102, "alignment_max": 0.18282528624139044, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1067632131830651, "base_score": 0.5066134699765416, "final_score": 0.5066134699765416, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11788058280944824, "door_quality": 0.7326509518372609, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6180727883389442, "step_quality_min": 0.49393078456169576, "step_quality_max": 0.9292733918204973, "alignment_signed_mean": 0.07750860721940885, "alignment_abs_mean": 0.19125710644160673, "alignment_min": -0.5863283902260065, "alignment_max": 0.1773586558439739, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5076166235889898, "score_before_reliability": 0.5076166235889898, "median_path_length": 1.1067439316322876, "door_quality": 0.7340969584620409, "door_open_delta": 0.11587893962860107, "step_quality_mean": 0.6201385120886299, "alignment_abs_mean": 0.17765776475862105, "alignment_signed_mean": 0.101104755155452, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5076166235889898, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 154, "state": {"door_angle": 0.7246674299240112, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3108673393726349, -0.0949242115020752, 1.1859792470932007, 0.16565115749835968, 0.8910776972770691, 0.41574743390083313, 0.07546082884073257], "right_arm_pose": [0.4637225568294525, -0.19148260354995728, 1.0135794878005981, 0.013707510195672512, 0.44648733735084534, 0.8675994873046875, 0.21847747266292572], "left_arm_joint_positions": [-0.2701292037963867, 0.024839431047439575, -0.3093566596508026, -1.9453775882720947, 0.8783212900161743, 1.6850035190582275, 0.45311200618743896], "right_arm_joint_positions": [0.29547882080078125, 0.5656759738922119, 0.13234475255012512, -2.4063005447387695, -1.0418668985366821, 0.7317686080932617, -1.2186497449874878], "pregrasp_goal_pose": [0.3877414452478585, 0.13304399596964855, 1.040930384575642, 0.15529937670298574, 0.7455594429986272, 0.6336421735354285, 0.1360912064335485], "pregrasp_position_error": 0.28092401871257583, "pregrasp_orientation_error_deg": 30.935139511771037}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 79, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 264, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.5069109678805741, "strict_length": 0.0, "assisted_length": 1.1066518650685198, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.1278151273727417, "door_quality": 0.7330539030530245, "step_quality_mean": 0.6186484329328923, "step_quality_min": 0.40932869041179587, "step_quality_max": 0.9252196261424297, "alignment_signed_mean": 0.09129886065453464, "alignment_abs_mean": 0.22926207792999903, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.4077414452478585, 0.13304399596964855, 1.040930384575642, 0.15529937670298574, 0.7455594429986272, 0.6336421735354285, 0.1360912064335485], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877414452478585, 0.13304399596964855, 1.040930384575642, 0.15529937670298574, 0.7455594429986272, 0.6336421735354285, 0.1360912064335485], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192924633474992, "base_score": 0.5189029716183775, "final_score": 0.5189029716183775, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1250896453857422, "door_quality": 0.7535643387153177, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6479490553075967, "step_quality_min": 0.5100337422278994, "step_quality_max": 0.9383116658584425, "alignment_signed_mean": 0.10198354585646088, "alignment_abs_mean": 0.15053711687378613, "alignment_min": -0.28570426325032944, "alignment_max": 0.28570426325032944, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.117794954277551, "base_score": 0.5164344373742873, "final_score": 0.5164344373742873, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12325930595397949, "door_quality": 0.7496051957347902, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.642293136763986, "step_quality_min": 0.5048039289032302, "step_quality_max": 0.9311630125839183, "alignment_signed_mean": 0.10831650315727862, "alignment_abs_mean": 0.1484249550911306, "alignment_min": -0.2456642680948435, "alignment_max": 0.2456642680948435, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5176687044963324, "score_before_reliability": 0.5176687044963324, "median_path_length": 1.118543708812525, "door_quality": 0.751584767225054, "door_open_delta": 0.12417447566986084, "step_quality_mean": 0.6451210960357914, "alignment_abs_mean": 0.14948103598245838, "alignment_signed_mean": 0.10515002450686975, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5176687044963324, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774144524785846, 0.13304399596964855, 1.040930384575642, 0.15529937670298574, 0.7455594429986272, 0.6336421735354285, 0.1360912064335485], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344671619133015, "base_score": 0.5096056216155689, "final_score": 0.5096056216155689, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1282973289489746, "door_quality": 0.7438153780541072, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6340219686487247, "step_quality_min": 0.21825419025677384, "step_quality_max": 0.9558021854632354, "alignment_signed_mean": -0.12920906504415333, "alignment_abs_mean": 0.2773946766948695, "alignment_min": -0.8896467577353391, "alignment_max": 0.35736630876033465, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1344624611765963, "base_score": 0.3696510121085156, "final_score": 0.3696510121085156, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.20402288436889648, "door_quality": 0.5395381542739548, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.3421973632485068, "step_quality_min": 0.010246461168303633, "step_quality_max": 0.6305032281961589, "alignment_signed_mean": -0.07582246446704535, "alignment_abs_mean": 0.39634055827365466, "alignment_min": -0.9535711470470729, "alignment_max": 0.9251162791657501, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.43962831686204223, "score_before_reliability": 0.43962831686204223, "median_path_length": 1.134464811544949, "door_quality": 0.641676766164031, "door_open_delta": 0.16616010665893555, "step_quality_mean": 0.48810966594861577, "alignment_abs_mean": 0.3368676174842621, "alignment_signed_mean": -0.10251576475559934, "collision_count": 1.5, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.43962831686204223, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077414452478585, 0.13304399596964855, 1.040930384575642, 0.15529937670298574, 0.7455594429986272, 0.6336421735354285, 0.1360912064335485], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1067419333561002, "base_score": 0.5052037421200132, "final_score": 0.7526018710600066, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.026378039648077896, "door_open_delta": 0.12597942352294922, "door_quality": 0.7306070584178148, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6151529405968784, "step_quality_min": 0.40932869041179587, "step_quality_max": 0.9227374900507319, "alignment_signed_mean": 0.08712827761993927, "alignment_abs_mean": 0.22721019356341884, "alignment_min": -0.543693824399761, "alignment_max": 0.5411896453766013, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1065617967809394, "base_score": 0.508618193641135, "final_score": 0.7543090968205675, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.03849083929704193, "door_open_delta": 0.12965083122253418, "door_quality": 0.7355007476882343, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.622143925268906, "step_quality_min": 0.4693235222501529, "step_quality_max": 0.9252196261424297, "alignment_signed_mean": 0.09546944368913002, "alignment_abs_mean": 0.23131396229657925, "alignment_min": -0.5456525187153226, "alignment_max": 0.5456525187153226, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5069109678805741, "score_before_reliability": 0.753455483940287, "median_path_length": 1.1066518650685198, "door_quality": 0.7330539030530245, "door_open_delta": 0.1278151273727417, "step_quality_mean": 0.6186484329328923, "alignment_abs_mean": 0.22926207792999903, "alignment_signed_mean": 0.09129886065453464, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.753455483940287, "source": "assisted"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 155, "state": {"door_angle": 0.7264269590377808, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109106421470642, -0.09494151175022125, 1.1859257221221924, 0.16568824648857117, 0.891077995300293, 0.41574016213417053, 0.07541611045598984], "right_arm_pose": [0.46155697107315063, -0.19710205495357513, 1.013053297996521, 0.0036956029944121838, 0.4624975919723511, 0.857998788356781, 0.22342869639396667], "left_arm_joint_positions": [-0.27014946937561035, 0.024957925081253052, -0.3093831241130829, -1.9452838897705078, 0.87830650806427, 1.6850547790527344, 0.4531599283218384], "right_arm_joint_positions": [0.29926347732543945, 0.5487959384918213, 0.14864638447761536, -2.4060072898864746, -1.0406368970870972, 0.7510344982147217, -1.2581785917282104], "pregrasp_goal_pose": [0.3877408581757267, 0.13304432467363816, 1.040927994347243, 0.15529303171536624, 0.7455587919696682, 0.6336428921639379, 0.13609866725100347], "pregrasp_position_error": 0.28089991948164755, "pregrasp_orientation_error_deg": 30.937500186473773}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 280, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.4235704708269755, "strict_length": 0.0, "assisted_length": 1.1345579661446472, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.284285306930542, "door_quality": 0.618258265390856, "step_quality_mean": 0.4546546648440801, "step_quality_min": -0.12549113278326263, "step_quality_max": 0.832478550662009, "alignment_signed_mean": -0.28248973155212453, "alignment_abs_mean": 0.44442079452499766, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.36774085817572666, 0.13304432467363816, 1.040927994347243, 0.15529303171536624, 0.7455587919696682, 0.6336428921639379, 0.13609866725100347], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877408581757267, 0.13304432467363816, 1.040927994347243, 0.15529303171536624, 0.7455587919696682, 0.6336428921639379, 0.13609866725100347], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193462463006123, "base_score": 0.5162189946048862, "final_score": 0.5162189946048862, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12007260322570801, "door_quality": 0.7496800376435865, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6424000537765522, "step_quality_min": 0.5070779088385198, "step_quality_max": 0.9396545700048768, "alignment_signed_mean": 0.0904899668806064, "alignment_abs_mean": 0.13337936590425462, "alignment_min": -0.16278006504827078, "alignment_max": 0.16635666660243836, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1177054769839818, "base_score": 0.5137340671577251, "final_score": 0.5137340671577251, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12012481689453125, "door_quality": 0.7456633648648341, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6366619498069059, "step_quality_min": 0.5050828787867315, "step_quality_max": 0.9318090308723515, "alignment_signed_mean": 0.09677858062314892, "alignment_abs_mean": 0.1369698964222065, "alignment_min": -0.13958877771078224, "alignment_max": 0.16914571398454112, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5149765308813057, "score_before_reliability": 0.5149765308813057, "median_path_length": 1.118525861642297, "door_quality": 0.7476717012542102, "door_open_delta": 0.12009871006011963, "step_quality_mean": 0.6395310017917291, "alignment_abs_mean": 0.13517463116323056, "alignment_signed_mean": 0.09363427375187766, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5149765308813057, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774085817572666, 0.13304432467363816, 1.040927994347243, 0.15529303171536624, 0.7455587919696682, 0.6336428921639379, 0.13609866725100347], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345687167884455, "base_score": 0.46911765415988, "final_score": 0.46911765415988, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13039946556091309, "door_quality": 0.6847427162526768, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5496324517895383, "step_quality_min": 0.11100752447366191, "step_quality_max": 0.832478550662009, "alignment_signed_mean": -0.17540975839333534, "alignment_abs_mean": 0.21430220791331578, "alignment_min": -0.9438725999852271, "alignment_max": 0.3111613079752475, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.134547215500849, "base_score": 0.37802328749407105, "final_score": 0.6890116437470355, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 1.2600141007946066, "door_open_delta": 0.4381711483001709, "door_quality": 0.5517738145290353, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.3596768778986219, "step_quality_min": -0.12549113278326263, "step_quality_max": 0.7837489740294297, "alignment_signed_mean": -0.38956970471091373, "alignment_abs_mean": 0.6745393811366796, "alignment_min": -0.9775072236150172, "alignment_max": 0.9657867446453756, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4235704708269755, "score_before_reliability": 0.5790646489534578, "median_path_length": 1.1345579661446472, "door_quality": 0.618258265390856, "door_open_delta": 0.284285306930542, "step_quality_mean": 0.4546546648440801, "alignment_abs_mean": 0.44442079452499766, "alignment_signed_mean": -0.28248973155212453, "collision_count": 1.5, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.5790646489534578, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077408581757267, 0.13304432467363816, 1.040927994347243, 0.15529303171536624, 0.7455587919696682, 0.6336428921639379, 0.13609866725100347], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106696698706399, "base_score": 0.5077110463472049, "final_score": 0.5077110463472049, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.10998702049255371, "door_quality": 0.7342219586715983, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6203170838165691, "step_quality_min": 0.4927206475653742, "step_quality_max": 0.9245318134636156, "alignment_signed_mean": 0.09238412994757911, "alignment_abs_mean": 0.14881056402306084, "alignment_min": -0.17943280490958144, "alignment_max": 0.17966448735728494, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.106855128271055, "base_score": 0.5054922084118275, "final_score": 0.5054922084118275, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11005163192749023, "door_quality": 0.7310518110145114, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6157883014493021, "step_quality_min": 0.49423231987558475, "step_quality_max": 0.9268134336478179, "alignment_signed_mean": 0.09563976602319076, "alignment_abs_mean": 0.14830927836543645, "alignment_min": -0.1770689418113095, "alignment_max": 0.18009442805128234, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5066016273795162, "score_before_reliability": 0.5066016273795162, "median_path_length": 1.1067759134887272, "door_quality": 0.7326368848430549, "door_open_delta": 0.11001932621002197, "step_quality_mean": 0.6180526926329356, "alignment_abs_mean": 0.14855992119424866, "alignment_signed_mean": 0.09401194798538492, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5066016273795162, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 156, "state": {"door_angle": 0.7258259057998657, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.3108922243118286, -0.09492488205432892, 1.1859687566757202, 0.16567106544971466, 0.8910794258117676, 0.4157412648200989, 0.07543111592531204], "right_arm_pose": [0.4593893885612488, -0.20294077694416046, 1.012631893157959, -0.007114781998097897, 0.47800880670547485, 0.8482428789138794, 0.22790558636188507], "left_arm_joint_positions": [-0.2701420783996582, 0.02486136555671692, -0.309355229139328, -1.9452979564666748, 0.8783103227615356, 1.6849796772003174, 0.4531203508377075], "right_arm_joint_positions": [0.3030214309692383, 0.5319271087646484, 0.1649356186389923, -2.4057559967041016, -1.039399266242981, 0.7703700065612793, -1.2976845502853394], "pregrasp_goal_pose": [0.3877412850212239, 0.13304418704325466, 1.040928862875279, 0.15529525763863025, 0.7455602019334673, 0.6336412516397224, 0.136096041339654], "pregrasp_position_error": 0.2809132346308703, "pregrasp_orientation_error_deg": 30.93669814394027}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 284, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.36941718962624626, "strict_length": 0.0, "assisted_length": 1.134620249336126, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.5298745632171631, "door_quality": 0.5392251803318455, "step_quality_mean": 0.3417502576169223, "step_quality_min": -0.12791015824517016, "step_quality_max": 0.9775685016816514, "alignment_signed_mean": -0.31428319241859515, "alignment_abs_mean": 0.7338194325103522, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3677412850212239, 0.13304418704325466, 1.040928862875279, 0.15529525763863025, 0.7455602019334673, 0.6336412516397224, 0.136096041339654], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877412850212239, 0.13304418704325466, 1.040928862875279, 0.15529525763863025, 0.7455602019334673, 0.6336412516397224, 0.136096041339654], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193683892562827, "base_score": 0.5370472206301976, "final_score": 0.5370472206301976, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11943197250366211, "door_quality": 0.7799336260039182, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6856194657198832, "step_quality_min": 0.46195257573791687, "step_quality_max": 0.9633503734433267, "alignment_signed_mean": 0.03632743492578682, "alignment_abs_mean": 0.13009901006777108, "alignment_min": -0.18797364826437357, "alignment_max": 0.3541679635731985, "door_contact_steps": 15, "path_steps": 28}, {"path_found": true, "path_length": 1.1178694077285765, "base_score": 0.5177578864946769, "final_score": 0.5177578864946769, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11962485313415527, "door_quality": 0.7515448351667177, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6450640502381682, "step_quality_min": 0.5058473923840563, "step_quality_max": 0.9541548666795416, "alignment_signed_mean": 0.06700357808716703, "alignment_abs_mean": 0.13201556613820276, "alignment_min": -0.17712340120406567, "alignment_max": 0.17712340120406567, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5274025535624373, "score_before_reliability": 0.5274025535624373, "median_path_length": 1.1186188984924295, "door_quality": 0.7657392305853179, "door_open_delta": 0.11952841281890869, "step_quality_mean": 0.6653417579790257, "alignment_abs_mean": 0.13105728810298692, "alignment_signed_mean": 0.05166550650647693, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5274025535624373, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677412850212239, 0.13304418704325466, 1.040928862875279, 0.15529525763863025, 0.7455602019334673, 0.6336412516397224, 0.136096041339654], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1346056515128131, "base_score": 0.37643563274122016, "final_score": 0.6882178163706101, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 1.0388113867861388, "door_open_delta": 0.5620417594909668, "door_quality": 0.5494671301368237, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.35638161448117683, "step_quality_min": -0.09354571891484342, "step_quality_max": 0.9676348177994659, "alignment_signed_mean": -0.28273956347770585, "alignment_abs_mean": 0.7412570567625055, "alignment_min": -0.9632544414731642, "alignment_max": 0.9632544414731642, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.134634847159439, "base_score": 0.3623987465112724, "final_score": 0.6811993732556362, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 1.0824798290045363, "door_open_delta": 0.4977073669433594, "door_quality": 0.5289832305268674, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.32711890075266775, "step_quality_min": -0.12791015824517016, "step_quality_max": 0.9775685016816514, "alignment_signed_mean": -0.3458268213594844, "alignment_abs_mean": 0.726381808258199, "alignment_min": -0.9674079333772594, "alignment_max": 0.9674079333772594, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.36941718962624626, "score_before_reliability": 0.6847085948131231, "median_path_length": 1.134620249336126, "door_quality": 0.5392251803318455, "door_open_delta": 0.5298745632171631, "step_quality_mean": 0.3417502576169223, "alignment_abs_mean": 0.7338194325103522, "alignment_signed_mean": -0.31428319241859515, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6847085948131231, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077412850212239, 0.13304418704325466, 1.040928862875279, 0.15529525763863025, 0.7455602019334673, 0.6336412516397224, 0.136096041339654], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106784662069166, "base_score": 0.5088589196923446, "final_score": 0.5088589196923446, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.10875749588012695, "door_quality": 0.735903523027212, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6227193186103029, "step_quality_min": 0.4949789728475532, "step_quality_max": 0.9183272844983039, "alignment_signed_mean": 0.07656538804072242, "alignment_abs_mean": 0.14930235284156285, "alignment_min": -0.188005366139694, "alignment_max": 0.188005366139694, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1066530648669595, "base_score": 0.5087944409873298, "final_score": 0.5087944409873298, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1089775562286377, "door_quality": 0.7357779988190363, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.622539998312909, "step_quality_min": 0.4953472590969016, "step_quality_max": 0.9155315162249875, "alignment_signed_mean": 0.0807730924300794, "alignment_abs_mean": 0.14823185811678344, "alignment_min": -0.18496216338454644, "alignment_max": 0.1869809938900127, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5088266803398372, "score_before_reliability": 0.5088266803398372, "median_path_length": 1.1067188634680627, "door_quality": 0.7358407609231241, "door_open_delta": 0.10886752605438232, "step_quality_mean": 0.622629658461606, "alignment_abs_mean": 0.14876710547917316, "alignment_signed_mean": 0.07866924023540091, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5088266803398372, "source": "assisted"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 157, "state": {"door_angle": 0.7250226736068726, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109379708766937, -0.09493158757686615, 1.1859405040740967, 0.16566595435142517, 0.8910840153694153, 0.41573333740234375, 0.07543124258518219], "right_arm_pose": [0.45720839500427246, -0.20899707078933716, 1.0123116970062256, -0.018714703619480133, 0.4929300844669342, 0.8383914828300476, 0.23188245296478271], "left_arm_joint_positions": [-0.2701375484466553, 0.02509024739265442, -0.30936405062675476, -1.9452519416809082, 0.8783577680587769, 1.68497896194458, 0.45312416553497314], "right_arm_joint_positions": [0.3068504333496094, 0.5149643421173096, 0.1811826527118683, -2.405360221862793, -1.03813898563385, 0.7896034717559814, -1.3372308015823364], "pregrasp_goal_pose": [0.38774203053395295, 0.13304423795294595, 1.0409306479229647, 0.15529596706803261, 0.7455638111127045, 0.6336370157582671, 0.13609518151816097], "pregrasp_position_error": 0.2808909022855798, "pregrasp_orientation_error_deg": 30.93705406952497}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.5120479658886441, "strict_length": 0.0, "assisted_length": 1.1185303423277948, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.11974334716796875, "door_quality": 0.7434204495883144, "step_quality_mean": 0.6334577851261636, "step_quality_min": 0.5040625358655504, "step_quality_max": 0.924621924894117, "alignment_signed_mean": 0.08476268762456128, "alignment_abs_mean": 0.18340305439652196, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.38774203053395295, 0.13304423795294595, 1.0409306479229647, 0.15529596706803261, 0.7455638111127045, 0.6336370157582671, 0.13609518151816097], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774203053395295, 0.13304423795294595, 1.0409306479229647, 0.15529596706803261, 0.7455638111127045, 0.6336370157582671, 0.13609518151816097], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192827478590397, "base_score": 0.5120127546804051, "final_score": 0.5120127546804051, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11974358558654785, "door_quality": 0.7435557791652294, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6336511130931849, "step_quality_min": 0.5087908035786413, "step_quality_max": 0.924621924894117, "alignment_signed_mean": 0.07899754986290324, "alignment_abs_mean": 0.17960021919642077, "alignment_min": -0.30714721737900785, "alignment_max": 0.30714721737900785, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.11777793679655, "base_score": 0.5120831770968831, "final_score": 0.5120831770968831, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11974310874938965, "door_quality": 0.7432851200113995, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6332644571591423, "step_quality_min": 0.5040625358655504, "step_quality_max": 0.9093427615635289, "alignment_signed_mean": 0.09052782538621933, "alignment_abs_mean": 0.18720588959662315, "alignment_min": -0.33455825918822124, "alignment_max": 0.33455825918822124, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5120479658886441, "score_before_reliability": 0.5120479658886441, "median_path_length": 1.1185303423277948, "door_quality": 0.7434204495883144, "door_open_delta": 0.11974334716796875, "step_quality_mean": 0.6334577851261636, "alignment_abs_mean": 0.18340305439652196, "alignment_signed_mean": 0.08476268762456128, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5120479658886441, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774203053395293, 0.13304423795294595, 1.0409306479229647, 0.15529596706803261, 0.7455638111127045, 0.6336370157582671, 0.13609518151816097], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344779226269512, "base_score": 0.4979302380691232, "final_score": 0.4979302380691232, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1297903060913086, "door_quality": 0.7267767093648794, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6096810133783991, "step_quality_min": 0.19785714832108692, "step_quality_max": 0.9367370319320997, "alignment_signed_mean": -0.14821260297642205, "alignment_abs_mean": 0.30572088751254267, "alignment_min": -0.8999598688264168, "alignment_max": 0.38393901997994684, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1344539210065208, "base_score": 0.3294467896095975, "final_score": 0.3294467896095975, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13032150268554688, "door_quality": 0.480855187658544, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.25836455379792006, "step_quality_min": -0.6550392493347955, "step_quality_max": 0.7479043145571793, "alignment_signed_mean": 0.003974641186303506, "alignment_abs_mean": 0.5326718496240473, "alignment_min": -0.9541296240493533, "alignment_max": 0.8508138994666623, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.41368851383936034, "score_before_reliability": 0.41368851383936034, "median_path_length": 1.134465921816736, "door_quality": 0.6038159485117117, "door_open_delta": 0.13005590438842773, "step_quality_mean": 0.4340227835881596, "alignment_abs_mean": 0.419196368568295, "alignment_signed_mean": -0.07211898089505928, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.41368851383936034, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774203053395297, 0.13304423795294595, 1.0409306479229647, 0.15529596706803261, 0.7455638111127045, 0.6336370157582671, 0.13609518151816097], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106627881117622, "base_score": 0.5045404269965554, "final_score": 0.5045404269965554, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.10742688179016113, "door_quality": 0.7296200577045966, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6137429395779952, "step_quality_min": 0.49171237439860993, "step_quality_max": 0.918771461089468, "alignment_signed_mean": 0.08698648294469359, "alignment_abs_mean": 0.16648014041971354, "alignment_min": -0.32562197316206176, "alignment_max": 0.32562197316206176, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1065990098748744, "base_score": 0.5060480142962428, "final_score": 0.5060480142962428, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.10782170295715332, "door_quality": 0.7317931494613218, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6168473563733169, "step_quality_min": 0.4935912015786148, "step_quality_max": 0.9169231029354091, "alignment_signed_mean": 0.08940993866527175, "alignment_abs_mean": 0.16756299479339543, "alignment_min": -0.32455489003086024, "alignment_max": 0.32455489003086024, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5052942206463991, "score_before_reliability": 0.5052942206463991, "median_path_length": 1.1066134454962482, "door_quality": 0.7307066035829592, "door_open_delta": 0.10762429237365723, "step_quality_mean": 0.6152951479756561, "alignment_abs_mean": 0.16702156760655448, "alignment_signed_mean": 0.08819821080498266, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5052942206463991, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 158, "state": {"door_angle": 0.7258068323135376, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.3109644949436188, -0.09491537511348724, 1.1858443021774292, 0.16569161415100098, 0.8910802006721497, 0.4157460033893585, 0.07535094767808914], "right_arm_pose": [0.4550635814666748, -0.2153359204530716, 1.0120832920074463, -0.03110651858150959, 0.5072523355484009, 0.8284516930580139, 0.23536202311515808], "left_arm_joint_positions": [-0.2701380252838135, 0.025129348039627075, -0.3093695342540741, -1.945143699645996, 0.8783503770828247, 1.6850190162658691, 0.45308220386505127], "right_arm_joint_positions": [0.3106391429901123, 0.4982180595397949, 0.19754889607429504, -2.405134677886963, -1.0368858575820923, 0.8089029788970947, -1.3767417669296265], "pregrasp_goal_pose": [0.38774119527751183, 0.13304496147743727, 1.040929928810786, 0.15530021331474775, 0.7455582690145847, 0.633643559153425, 0.13609023180136884], "pregrasp_position_error": 0.280821566801866, "pregrasp_orientation_error_deg": 30.93864837041548}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.5118414723502636, "strict_length": 0.0, "assisted_length": 1.1183879216614385, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.11850893497467041, "door_quality": 0.743085743916515, "step_quality_mean": 0.6329796341664501, "step_quality_min": 0.49712446514899844, "step_quality_max": 0.932680066359586, "alignment_signed_mean": 0.08781275775150364, "alignment_abs_mean": 0.14999237194912685, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.38774119527751183, 0.13304496147743727, 1.040929928810786, 0.15530021331474775, 0.7455582690145847, 0.633643559153425, 0.13609023180136884], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774119527751183, 0.13304496147743727, 1.040929928810786, 0.15530021331474775, 0.7455582690145847, 0.633643559153425, 0.13609023180136884], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1191472138317424, "base_score": 0.5128155654509906, "final_score": 0.5128155654509906, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1187281608581543, "door_quality": 0.7446879937082892, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6352685624404132, "step_quality_min": 0.49712446514899844, "step_quality_max": 0.932680066359586, "alignment_signed_mean": 0.08677151392407527, "alignment_abs_mean": 0.14941152181832193, "alignment_min": -0.22383298081224226, "alignment_max": 0.22383298081224226, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1176286294911346, "base_score": 0.5108673792495365, "final_score": 0.5108673792495365, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11828970909118652, "door_quality": 0.7414834941247408, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.630690705892487, "step_quality_min": 0.5055390258051261, "step_quality_max": 0.9308762494734912, "alignment_signed_mean": 0.08885400157893202, "alignment_abs_mean": 0.1505732220799318, "alignment_min": -0.24603107121771922, "alignment_max": 0.24603107121771922, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5118414723502636, "score_before_reliability": 0.5118414723502636, "median_path_length": 1.1183879216614385, "door_quality": 0.743085743916515, "door_open_delta": 0.11850893497467041, "step_quality_mean": 0.6329796341664501, "alignment_abs_mean": 0.14999237194912685, "alignment_signed_mean": 0.08781275775150364, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5118414723502636, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677411952775118, 0.13304496147743727, 1.040929928810786, 0.15530021331474775, 0.7455582690145847, 0.633643559153425, 0.13609023180136884], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1343267028064663, "base_score": 0.45897319151955257, "final_score": 0.45897319151955257, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.130357027053833, "door_quality": 0.6698814142176894, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5284020203109849, "step_quality_min": 0.07276440465760026, "step_quality_max": 0.8822929373465879, "alignment_signed_mean": -0.16337797695054862, "alignment_abs_mean": 0.24677841509779214, "alignment_min": -0.9632090088809887, "alignment_max": 0.487622780468654, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1343207177106784, "base_score": 0.2606701170393579, "final_score": 0.2606701170393579, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12640738487243652, "door_quality": 0.3804529796178868, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.11493282802555267, "step_quality_min": -0.7791012490524345, "step_quality_max": 0.8724638795647792, "alignment_signed_mean": -0.11615763775472297, "alignment_abs_mean": 0.5869327683838123, "alignment_min": -0.9727226447477108, "alignment_max": 0.9285658607235747, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.3598216542794552, "score_before_reliability": 0.3598216542794552, "median_path_length": 1.1343237102585724, "door_quality": 0.5251671969177881, "door_open_delta": 0.12838220596313477, "step_quality_mean": 0.3216674241682688, "alignment_abs_mean": 0.4168555917408022, "alignment_signed_mean": -0.1397678073526358, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.3598216542794552, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774119527751185, 0.13304496147743727, 1.040929928810786, 0.15530021331474775, 0.7455582690145847, 0.633643559153425, 0.13609023180136884], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1065549384751348, "base_score": 0.5028238430080961, "final_score": 0.5028238430080961, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.10811758041381836, "door_quality": 0.7271200119256758, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6101714456081082, "step_quality_min": 0.4919809134811914, "step_quality_max": 0.9280442475408682, "alignment_signed_mean": 0.08676255835477267, "alignment_abs_mean": 0.17045661114147345, "alignment_min": -0.3087956757916133, "alignment_max": 0.3087956757916133, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1064233875863698, "base_score": 0.5046735653601075, "final_score": 0.5046735653601075, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.10697603225708008, "door_quality": 0.7297628445637928, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6139469208054184, "step_quality_min": 0.4935054236175921, "step_quality_max": 0.9273446454876733, "alignment_signed_mean": 0.0849555755170264, "alignment_abs_mean": 0.1680449351898033, "alignment_min": -0.27721863491983945, "alignment_max": 0.27721863491983945, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5037487041841018, "score_before_reliability": 0.5037487041841018, "median_path_length": 1.1064891630307523, "door_quality": 0.7284414282447342, "door_open_delta": 0.10754680633544922, "step_quality_mean": 0.6120591832067632, "alignment_abs_mean": 0.16925077316563836, "alignment_signed_mean": 0.08585906693589954, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5037487041841018, "source": "assisted"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 159, "state": {"door_angle": 0.7277885675430298, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109133541584015, -0.09488612413406372, 1.185939908027649, 0.16565796732902527, 0.8910719156265259, 0.4157674014568329, 0.07540446519851685], "right_arm_pose": [0.4529390335083008, -0.22185859084129333, 1.011993408203125, -0.04418168589472771, 0.5209522843360901, 0.818436324596405, 0.23836685717105865], "left_arm_joint_positions": [-0.2701230049133301, 0.02501562237739563, -0.30934998393058777, -1.9451782703399658, 0.8783622980117798, 1.684959888458252, 0.45315277576446533], "right_arm_joint_positions": [0.31439757347106934, 0.48140406608581543, 0.21380355954170227, -2.404862403869629, -1.035668969154358, 0.82818603515625, -1.4162508249282837], "pregrasp_goal_pose": [0.3877418213124304, 0.13304403257739356, 1.040932041264078, 0.15530066473509593, 0.7455631459870958, 0.6336378316417979, 0.136089665996145], "pregrasp_position_error": 0.2808594864466371, "pregrasp_orientation_error_deg": 30.933723668534064}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.49984331136449733, "strict_length": 0.0, "assisted_length": 1.1065573203348467, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.11360049247741699, "door_quality": 0.7228105151249865, "step_quality_mean": 0.6040150216071236, "step_quality_min": 0.4584921725629019, "step_quality_max": 0.9286128413895297, "alignment_signed_mean": 0.10241922716635857, "alignment_abs_mean": 0.19326849449306982, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.4077418213124304, 0.13304403257739356, 1.040932041264078, 0.15530066473509593, 0.7455631459870958, 0.6336378316417979, 0.136089665996145], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877418213124304, 0.13304403257739356, 1.040932041264078, 0.15530066473509593, 0.7455631459870958, 0.6336378316417979, 0.136089665996145], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192093937976626, "base_score": 0.5137258852086938, "final_score": 0.5137258852086938, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11947107315063477, "door_quality": 0.7460253820903942, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6371791172719916, "step_quality_min": 0.507504464049868, "step_quality_max": 0.936061029717739, "alignment_signed_mean": 0.07422653998795924, "alignment_abs_mean": 0.15950797508056397, "alignment_min": -0.2616030569320764, "alignment_max": 0.2616030569320764, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1177438967580224, "base_score": 0.2796791873199188, "final_score": 0.2796791873199188, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11972403526306152, "door_quality": 0.40594776172944547, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.1513539453277793, "step_quality_min": -1.1286473233152399, "step_quality_max": 0.8343294622226427, "alignment_signed_mean": -0.1709905070356671, "alignment_abs_mean": 0.5061243464750025, "alignment_min": -0.9807453441293895, "alignment_max": 0.9034558767008934, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.3967025362643063, "score_before_reliability": 0.3967025362643063, "median_path_length": 1.1184766452778425, "door_quality": 0.5759865719099198, "door_open_delta": 0.11959755420684814, "step_quality_mean": 0.3942665312998854, "alignment_abs_mean": 0.3328161607777832, "alignment_signed_mean": -0.04838198352385393, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.3967025362643063, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677418213124304, 0.13304403257739356, 1.040932041264078, 0.15530066473509593, 0.7455631459870958, 0.6336378316417979, 0.136089665996145], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344697515637658, "base_score": 0.2619997387061399, "final_score": 0.2619997387061399, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1291506290435791, "door_quality": 0.38241258465958383, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.11773226379940546, "step_quality_min": -0.7438211979003019, "step_quality_max": 0.8333967063090632, "alignment_signed_mean": -0.1323901158495, "alignment_abs_mean": 0.5721709186256442, "alignment_min": -0.9652199857843481, "alignment_max": 0.9372335886456714, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1343152257621578, "base_score": 0.27057185490744456, "final_score": 0.27057185490744456, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13881516456604004, "door_quality": 0.3949040308985108, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.1355771869978726, "step_quality_min": -0.950773542319924, "step_quality_max": 0.9850977187274573, "alignment_signed_mean": -0.12982322028538654, "alignment_abs_mean": 0.5850299788790692, "alignment_min": -0.9535778942782022, "alignment_max": 0.9168372082572388, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.2662857968067922, "score_before_reliability": 0.2662857968067922, "median_path_length": 1.1343924886629617, "door_quality": 0.3886583077790473, "door_open_delta": 0.13398289680480957, "step_quality_mean": 0.12665472539863903, "alignment_abs_mean": 0.5786004487523566, "alignment_signed_mean": -0.13110666806744325, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.2662857968067922, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077418213124304, 0.13304403257739356, 1.040932041264078, 0.15530066473509593, 0.7455631459870958, 0.6336378316417979, 0.136089665996145], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106576812598919, "base_score": 0.49939764946177173, "final_score": 0.49939764946177173, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11364078521728516, "door_quality": 0.7221707513476252, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6031010733537504, "step_quality_min": 0.4584921725629019, "step_quality_max": 0.9242331641979454, "alignment_signed_mean": 0.10254902396374906, "alignment_abs_mean": 0.19322637637840095, "alignment_min": -0.4407210745295161, "alignment_max": 0.4407210745295161, "door_contact_steps": 20, "path_steps": 28}, {"path_found": true, "path_length": 1.1065378280707745, "base_score": 0.500288973267223, "final_score": 0.500288973267223, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11356019973754883, "door_quality": 0.7234502789023478, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6049289698604969, "step_quality_min": 0.4594684491447042, "step_quality_max": 0.9286128413895297, "alignment_signed_mean": 0.10228943036896809, "alignment_abs_mean": 0.19331061260773866, "alignment_min": -0.4493633371254199, "alignment_max": 0.4493633371254199, "door_contact_steps": 20, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.49984331136449733, "score_before_reliability": 0.49984331136449733, "median_path_length": 1.1065573203348467, "door_quality": 0.7228105151249865, "door_open_delta": 0.11360049247741699, "step_quality_mean": 0.6040150216071236, "alignment_abs_mean": 0.19326849449306982, "alignment_signed_mean": 0.10241922716635857, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.49984331136449733, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 160, "state": {"door_angle": 0.726606011390686, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.3108912408351898, -0.09489797055721283, 1.1860524415969849, 0.16559667885303497, 0.8910778164863586, 0.415766179561615, 0.07547619938850403], "right_arm_pose": [0.45085152983665466, -0.2286175787448883, 1.012018084526062, -0.05796601250767708, 0.5339436531066895, 0.8083910346031189, 0.24093163013458252], "left_arm_joint_positions": [-0.2701253890991211, 0.02469685673713684, -0.30935975909233093, -1.9451878070831299, 0.8783696889877319, 1.6849408149719238, 0.453097939491272], "right_arm_joint_positions": [0.3181445598602295, 0.4645884037017822, 0.23008134961128235, -2.404421806335449, -1.0343667268753052, 0.8473587036132812, -1.455764651298523], "pregrasp_goal_pose": [0.38774127435432637, 0.13304431825292523, 1.0409316790568932, 0.15530135490187247, 0.7455624103297827, 0.6336387011329819, 0.13608886029133652], "pregrasp_position_error": 0.28093353377643343, "pregrasp_orientation_error_deg": 30.932168770408413}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.5031497389021352, "strict_length": 0.0, "assisted_length": 1.1067590373557281, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.12373876571655273, "door_quality": 0.7276407041142378, "step_quality_mean": 0.6109152915917684, "step_quality_min": 0.29174760574966074, "step_quality_max": 0.9281644357873303, "alignment_signed_mean": 0.07262580775912672, "alignment_abs_mean": 0.22776445126134204, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.4077412743543264, 0.13304431825292523, 1.0409316790568932, 0.15530135490187247, 0.7455624103297827, 0.6336387011329819, 0.13608886029133652], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774127435432637, 0.13304431825292523, 1.0409316790568932, 0.15530135490187247, 0.7455624103297827, 0.6336387011329819, 0.13608886029133652], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193628256417565, "base_score": 0.5192566098883186, "final_score": 0.5192566098883186, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1268138885498047, "door_quality": 0.7540955877971809, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6487079825674014, "step_quality_min": 0.5109227647660809, "step_quality_max": 0.9362691237770074, "alignment_signed_mean": 0.11011303001183656, "alignment_abs_mean": 0.12181058962803383, "alignment_min": -0.07131642752772431, "alignment_max": 0.1660423800812839, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178558996366048, "base_score": 0.516412460138908, "final_score": 0.516412460138908, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1271357536315918, "door_quality": 0.7495885235775757, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6422693193965368, "step_quality_min": 0.5058827866465643, "step_quality_max": 0.9340762085422725, "alignment_signed_mean": 0.10584517689349977, "alignment_abs_mean": 0.16948739177990013, "alignment_min": -0.4216296736224023, "alignment_max": 0.4216296736224023, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5178345350136133, "score_before_reliability": 0.5178345350136133, "median_path_length": 1.1186093626391806, "door_quality": 0.7518420556873783, "door_open_delta": 0.12697482109069824, "step_quality_mean": 0.6454886509819691, "alignment_abs_mean": 0.14564899070396697, "alignment_signed_mean": 0.10797910345266817, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5178345350136133, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774127435432635, 0.13304431825292523, 1.0409316790568932, 0.15530135490187247, 0.7455624103297827, 0.6336387011329819, 0.13608886029133652], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1346506491638093, "base_score": 0.4252461793764509, "final_score": 0.4252461793764509, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1296381950378418, "door_quality": 0.6207231255112176, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.45817589358745375, "step_quality_min": 0.0710090291309381, "step_quality_max": 0.5970381739562558, "alignment_signed_mean": -0.20992518425918827, "alignment_abs_mean": 0.2794154765593517, "alignment_min": -0.9640965583045819, "alignment_max": 0.7707147727519982, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1346206540301125, "base_score": 0.4455721851376777, "final_score": 0.4455721851376777, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12924575805664062, "door_quality": 0.6503860763615466, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5005515376593522, "step_quality_min": 0.08720173619418092, "step_quality_max": 0.9369043112122736, "alignment_signed_mean": -0.30024655989057564, "alignment_abs_mean": 0.4162957772988627, "alignment_min": -0.9559092345085602, "alignment_max": 0.28719748367504094, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.43540918225706426, "score_before_reliability": 0.43540918225706426, "median_path_length": 1.134635651596961, "door_quality": 0.635554600936382, "door_open_delta": 0.1294419765472412, "step_quality_mean": 0.47936371562340296, "alignment_abs_mean": 0.3478556269291072, "alignment_signed_mean": -0.255085872074882, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.43540918225706426, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077412743543264, 0.13304431825292523, 1.0409316790568932, 0.15530135490187247, 0.7455624103297827, 0.6336387011329819, 0.13608886029133652], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1068014280740768, "base_score": 0.49928238242025375, "final_score": 0.7496411912101268, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.022652680726498856, "door_open_delta": 0.12604594230651855, "door_quality": 0.7220581253549678, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6029401790785256, "step_quality_min": 0.29174760574966074, "step_quality_max": 0.9281644357873303, "alignment_signed_mean": 0.07843993544408957, "alignment_abs_mean": 0.25095203921875425, "alignment_min": -0.6327363005102883, "alignment_max": 0.5275254733575675, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1067166466373795, "base_score": 0.5070170953840166, "final_score": 0.5070170953840166, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12143158912658691, "door_quality": 0.7332232828735077, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6188904041050111, "step_quality_min": 0.45871480318982527, "step_quality_max": 0.9222455111806438, "alignment_signed_mean": 0.06681168007416388, "alignment_abs_mean": 0.2045768633039298, "alignment_min": -0.6157737474106045, "alignment_max": 0.1814311508149991, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5031497389021352, "score_before_reliability": 0.6283291432970717, "median_path_length": 1.1067590373557281, "door_quality": 0.7276407041142378, "door_open_delta": 0.12373876571655273, "step_quality_mean": 0.6109152915917684, "alignment_abs_mean": 0.22776445126134204, "alignment_signed_mean": 0.07262580775912672, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6283291432970717, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 161, "state": {"door_angle": 0.7227309942245483, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3108995258808136, -0.09491181373596191, 1.1859740018844604, 0.1656539887189865, 0.891075611114502, 0.41575655341148376, 0.07542958110570908], "right_arm_pose": [0.4488271176815033, -0.23561154305934906, 1.012218713760376, -0.0724230408668518, 0.5462626218795776, 0.7983306646347046, 0.24294064939022064], "left_arm_joint_positions": [-0.2701449394226074, 0.024776726961135864, -0.3093871772289276, -1.9452598094940186, 0.8783503770828247, 1.684950590133667, 0.4531635046005249], "right_arm_joint_positions": [0.32198548316955566, 0.4477097988128662, 0.24640777707099915, -2.404235363006592, -1.0331586599349976, 0.8665716648101807, -1.4952701330184937], "pregrasp_goal_pose": [0.3877480137765448, 0.13303765660455197, 1.040931506688368, 0.1552976451068656, 0.7455646740791526, 0.6336360139613104, 0.1360932033597959], "pregrasp_position_error": 0.2808985164309161, "pregrasp_orientation_error_deg": 30.93413747283119}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.5242143587099707, "strict_length": 0.0, "assisted_length": 1.1345772794375777, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.13154172897338867, "door_quality": 0.7651662382306332, "step_quality_mean": 0.6645231974723332, "step_quality_min": 0.5155018753325793, "step_quality_max": 0.9444202478027436, "alignment_signed_mean": 0.09425468270891704, "alignment_abs_mean": 0.127836919042783, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.36774801377654476, 0.13303765660455197, 1.040931506688368, 0.1552976451068656, 0.7455646740791526, 0.6336360139613104, 0.1360932033597959], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877480137765448, 0.13303765660455197, 1.040931506688368, 0.1552976451068656, 0.7455646740791526, 0.6336360139613104, 0.1360932033597959], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193059804968577, "base_score": 0.5163940320710279, "final_score": 0.5163940320710279, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1277022361755371, "door_quality": 0.7499241706430808, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6427488152044013, "step_quality_min": 0.4664144401485717, "step_quality_max": 0.931079420284071, "alignment_signed_mean": 0.054594990850773684, "alignment_abs_mean": 0.17853990709381193, "alignment_min": -0.620446864570711, "alignment_max": 0.1637666174567097, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178198323952013, "base_score": 0.5174330248465717, "final_score": 0.5174330248465717, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12654566764831543, "door_quality": 0.7510608749312099, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.644372678473157, "step_quality_min": 0.5077209358668948, "step_quality_max": 0.9353822687247693, "alignment_signed_mean": 0.09482213535885776, "alignment_abs_mean": 0.1589106573020562, "alignment_min": -0.40375768824214997, "alignment_max": 0.16726145349626778, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5169135284587998, "score_before_reliability": 0.5169135284587998, "median_path_length": 1.1185629064460296, "door_quality": 0.7504925227871453, "door_open_delta": 0.12712395191192627, "step_quality_mean": 0.6435607468387792, "alignment_abs_mean": 0.16872528219793406, "alignment_signed_mean": 0.07470856310481572, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5169135284587998, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774801377654476, 0.13303765660455197, 1.040931506688368, 0.1552976451068656, 0.7455646740791526, 0.6336360139613104, 0.1360932033597959], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1346109933015363, "base_score": 0.5245117769233315, "final_score": 0.5245117769233315, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13390278816223145, "door_quality": 0.7656089617822485, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6651556596889264, "step_quality_min": 0.5178203705290522, "step_quality_max": 0.9444202478027436, "alignment_signed_mean": 0.07475761462578075, "alignment_abs_mean": 0.14192208729351266, "alignment_min": -0.4113823950898578, "alignment_max": 0.15798969412722566, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.134543565573619, "base_score": 0.5239169404966099, "final_score": 0.5239169404966099, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1291806697845459, "door_quality": 0.764723514679018, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.66389073525574, "step_quality_min": 0.5155018753325793, "step_quality_max": 0.9413851358068145, "alignment_signed_mean": 0.11375175079205335, "alignment_abs_mean": 0.11375175079205335, "alignment_min": 0.04616398016547692, "alignment_max": 0.15662494938705934, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5242143587099707, "score_before_reliability": 0.5242143587099707, "median_path_length": 1.1345772794375777, "door_quality": 0.7651662382306332, "door_open_delta": 0.13154172897338867, "step_quality_mean": 0.6645231974723332, "alignment_abs_mean": 0.127836919042783, "alignment_signed_mean": 0.09425468270891704, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5242143587099707, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077480137765448, 0.13303765660455197, 1.040931506688368, 0.1552976451068656, 0.7455646740791526, 0.6336360139613104, 0.1360932033597959], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1067190736526926, "base_score": 0.5077337129864645, "final_score": 0.5077337129864645, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11110734939575195, "door_quality": 0.7342602141606849, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6203717345152642, "step_quality_min": 0.4950089915548975, "step_quality_max": 0.9222584983927802, "alignment_signed_mean": 0.14553278848817708, "alignment_abs_mean": 0.14553278848817708, "alignment_min": 0.02108142681484761, "alignment_max": 0.17995849972312722, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1066958033514183, "base_score": 0.5046808903592455, "final_score": 0.5046808903592455, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.10842132568359375, "door_quality": 0.7298397068550293, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6140567240786133, "step_quality_min": 0.49189380427587337, "step_quality_max": 0.9244446095302309, "alignment_signed_mean": 0.15579862246993512, "alignment_abs_mean": 0.15579862246993512, "alignment_min": 0.09156687968735051, "alignment_max": 0.18017699287354438, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.506207301672855, "score_before_reliability": 0.506207301672855, "median_path_length": 1.1067074385020554, "door_quality": 0.7320499605078571, "door_open_delta": 0.10976433753967285, "step_quality_mean": 0.6172142292969387, "alignment_abs_mean": 0.1506657054790561, "alignment_signed_mean": 0.1506657054790561, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.506207301672855, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 162, "state": {"door_angle": 0.728206992149353, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.31090274453163147, -0.09491641074419022, 1.1859347820281982, 0.16568100452423096, 0.8910700082778931, 0.41576331853866577, 0.07539896667003632], "right_arm_pose": [0.4468632936477661, -0.24278709292411804, 1.0125404596328735, -0.08748464286327362, 0.5578278303146362, 0.7882719039916992, 0.24454426765441895], "left_arm_joint_positions": [-0.27013134956359863, 0.024874955415725708, -0.30937954783439636, -1.9451348781585693, 0.8783613443374634, 1.6850025653839111, 0.4531170129776001], "right_arm_joint_positions": [0.3257277011871338, 0.4308903217315674, 0.26262572407722473, -2.4038519859313965, -1.0318881273269653, 0.8857522010803223, -1.5347915887832642], "pregrasp_goal_pose": [0.3877414012346321, 0.13304448073810665, 1.0409309015347366, 0.15529762089283977, 0.7455639449061454, 0.633636870624756, 0.13609323710558233], "pregrasp_position_error": 0.2808851590374387, "pregrasp_orientation_error_deg": 30.934199389431164}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.4386619008681083, "strict_length": 0.0, "assisted_length": 1.134450993376999, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.16140341758728027, "door_quality": 0.6402628300108495, "step_quality_mean": 0.4860897571583564, "step_quality_min": 0.09133419017942579, "step_quality_max": 0.9685972477743622, "alignment_signed_mean": -0.4448196777460469, "alignment_abs_mean": 0.52060302839829, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.36774140123463206, 0.13304448073810665, 1.0409309015347366, 0.15529762089283977, 0.7455639449061454, 0.633636870624756, 0.13609323710558233], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877414012346321, 0.13304448073810665, 1.0409309015347366, 0.15529762089283977, 0.7455639449061454, 0.633636870624756, 0.13609323710558233], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192773821439257, "base_score": 0.5203605814316736, "final_score": 0.5203605814316736, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1335463523864746, "door_quality": 0.7556773185980902, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6509675979972718, "step_quality_min": 0.5005243016267598, "step_quality_max": 0.9377795557181484, "alignment_signed_mean": 0.08495896637155936, "alignment_abs_mean": 0.15984502982566018, "alignment_min": -0.5200421073201446, "alignment_max": 0.16535628967836957, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178244147459462, "base_score": 0.5143861647137121, "final_score": 0.5143861647137121, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13317298889160156, "door_quality": 0.7466394576290938, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6380563680415625, "step_quality_min": 0.08693691263740888, "step_quality_max": 0.9658774192046009, "alignment_signed_mean": -0.26311687889876006, "alignment_abs_mean": 0.34217078576976057, "alignment_min": -0.9560431340597371, "alignment_max": 0.28518062712078857, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5173733730726928, "score_before_reliability": 0.5173733730726928, "median_path_length": 1.118550898444936, "door_quality": 0.7511583881135919, "door_open_delta": 0.13335967063903809, "step_quality_mean": 0.6445119830194171, "alignment_abs_mean": 0.2510079077977104, "alignment_signed_mean": -0.08907895626360035, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5173733730726928, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774140123463206, 0.13304448073810665, 1.0409309015347366, 0.15529762089283977, 0.7455639449061454, 0.633636870624756, 0.13609323710558233], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344260290494372, "base_score": 0.4663946974455681, "final_score": 0.7331973487227841, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.007242727053994498, "door_open_delta": 0.14460492134094238, "door_quality": 0.6807358024176489, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5439082891680698, "step_quality_min": 0.09133419017942579, "step_quality_max": 0.9685972477743622, "alignment_signed_mean": -0.40096526390781784, "alignment_abs_mean": 0.45760822426261344, "alignment_min": -0.9538197914823128, "alignment_max": 0.20642662859772498, "door_contact_steps": 8, "path_steps": 28}, {"path_found": true, "path_length": 1.1344759577045609, "base_score": 0.41092910429064855, "final_score": 0.7054645521453242, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.0038567495142089966, "door_open_delta": 0.17820191383361816, "door_quality": 0.5997898576040501, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.428271225148643, "step_quality_min": 0.0986105878368082, "step_quality_max": 0.8996509186538459, "alignment_signed_mean": -0.48867409158427605, "alignment_abs_mean": 0.5835978325339666, "alignment_min": -0.950140714015097, "alignment_max": 0.3590076407968459, "door_contact_steps": 8, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4386619008681083, "score_before_reliability": 0.7193309504340542, "median_path_length": 1.134450993376999, "door_quality": 0.6402628300108495, "door_open_delta": 0.16140341758728027, "step_quality_mean": 0.4860897571583564, "alignment_abs_mean": 0.52060302839829, "alignment_signed_mean": -0.4448196777460469, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7193309504340542, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077414012346321, 0.13304448073810665, 1.0409309015347366, 0.15529762089283977, 0.7455639449061454, 0.633636870624756, 0.13609323710558233], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066256859820587, "base_score": 0.5048993172681728, "final_score": 0.5048993172681728, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11762452125549316, "door_quality": 0.7301385176244758, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6144835966063941, "step_quality_min": 0.4793710934903084, "step_quality_max": 0.9228129070561698, "alignment_signed_mean": 0.10753374743860408, "alignment_abs_mean": 0.17905389653451909, "alignment_min": -0.41481686475630697, "alignment_max": 0.20104817751615267, "door_contact_steps": 20, "path_steps": 28}, {"path_found": true, "path_length": 1.1067175926770125, "base_score": 0.5070925294417145, "final_score": 0.5070925294417145, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11376810073852539, "door_quality": 0.7333326031658483, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6190465759512119, "step_quality_min": 0.49511782593712567, "step_quality_max": 0.9225108774791707, "alignment_signed_mean": 0.15447809034701657, "alignment_abs_mean": 0.15447809034701657, "alignment_min": 0.07785803452447686, "alignment_max": 0.18067561949122965, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5059959233549436, "score_before_reliability": 0.5059959233549436, "median_path_length": 1.1066716393295355, "door_quality": 0.7317355603951621, "door_open_delta": 0.11569631099700928, "step_quality_mean": 0.616765086278803, "alignment_abs_mean": 0.1667659934407678, "alignment_signed_mean": 0.13100591889281032, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5059959233549436, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 163, "state": {"door_angle": 0.7263401746749878, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31090784072875977, -0.09489451348781586, 1.1858570575714111, 0.1656799018383026, 0.8910835981369019, 0.41574329137802124, 0.07535139471292496], "right_arm_pose": [0.4449945092201233, -0.25021377205848694, 1.0130046606063843, -0.10319700092077255, 0.5686523914337158, 0.7782362103462219, 0.2456282675266266], "left_arm_joint_positions": [-0.27011823654174805, 0.025073081254959106, -0.3093533217906952, -1.9452178478240967, 0.8783167600631714, 1.685021162033081, 0.4531139135360718], "right_arm_joint_positions": [0.329571008682251, 0.41393303871154785, 0.27901437878608704, -2.4036507606506348, -1.0305899381637573, 0.9049298763275146, -1.5742663145065308], "pregrasp_goal_pose": [0.3877415606613298, 0.13304412307773122, 1.0409321055075766, 0.15530206142592723, 0.7455618813060317, 0.63363932792995, 0.1360880338631916], "pregrasp_position_error": 0.2808250065231761, "pregrasp_orientation_error_deg": 30.938363305774562}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.405534924618397, "strict_length": 0.0, "assisted_length": 1.1343355786522733, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.17603051662445068, "door_quality": 0.5918888771372988, "step_quality_mean": 0.4169841101961412, "step_quality_min": 0.08890663994912884, "step_quality_max": 0.8635233039373322, "alignment_signed_mean": -0.5448663617401279, "alignment_abs_mean": 0.6205515240109827, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3677415606613298, 0.13304412307773122, 1.0409321055075766, 0.15530206142592723, 0.7455618813060317, 0.63363932792995, 0.1360880338631916], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877415606613298, 0.13304412307773122, 1.0409321055075766, 0.15530206142592723, 0.7455618813060317, 0.63363932792995, 0.1360880338631916], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1191792578004534, "base_score": 0.5218011835573885, "final_score": 0.5218011835573885, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12429618835449219, "door_quality": 0.7577446030074828, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6539208614392613, "step_quality_min": 0.5098179802060686, "step_quality_max": 0.9339692643943678, "alignment_signed_mean": 0.12416357640355305, "alignment_abs_mean": 0.12416357640355305, "alignment_min": 0.05593225519842673, "alignment_max": 0.17048847194920164, "door_contact_steps": 18, "path_steps": 28}, {"path_found": true, "path_length": 1.117651610501171, "base_score": 0.5246352353895293, "final_score": 0.7623176176947646, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.009883525018953319, "door_open_delta": 0.1346454620361328, "door_quality": 0.7614722787654216, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6592461125220308, "step_quality_min": 0.5072263122940763, "step_quality_max": 0.9368574421134569, "alignment_signed_mean": 0.07329088099362818, "alignment_abs_mean": 0.15732485779882718, "alignment_min": -0.5631112848599482, "alignment_max": 0.1670208690791923, "door_contact_steps": 18, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5232182094734589, "score_before_reliability": 0.6420594006260765, "median_path_length": 1.1184154341508121, "door_quality": 0.7596084408864522, "door_open_delta": 0.1294708251953125, "step_quality_mean": 0.6565834869806461, "alignment_abs_mean": 0.14074421710119012, "alignment_signed_mean": 0.09872722869859062, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6420594006260765, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677415606613298, 0.13304412307773122, 1.0409321055075766, 0.15530206142592723, 0.7455618813060317, 0.63363932792995, 0.1360880338631916], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1343254154080695, "base_score": 0.3991871969362952, "final_score": 0.6995935984681476, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.003868447793343226, "door_open_delta": 0.1547703742980957, "door_quality": 0.5826221971318211, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.40374599590260146, "step_quality_min": 0.08890663994912884, "step_quality_max": 0.809918081350522, "alignment_signed_mean": -0.5777484840442706, "alignment_abs_mean": 0.6285319020447345, "alignment_min": -0.9550472045201034, "alignment_max": 0.19158642285100297, "door_contact_steps": 6, "path_steps": 28}, {"path_found": true, "path_length": 1.134345741896477, "base_score": 0.4118826523004988, "final_score": 0.7059413261502494, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.0038951799815801717, "door_open_delta": 0.19729065895080566, "door_quality": 0.6011555571427766, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4302222244896809, "step_quality_min": 0.09252479622439447, "step_quality_max": 0.8635233039373322, "alignment_signed_mean": -0.5119842394359854, "alignment_abs_mean": 0.612571145977231, "alignment_min": -0.953217799661823, "alignment_max": 0.41884215474470043, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.405534924618397, "score_before_reliability": 0.7027674623091985, "median_path_length": 1.1343355786522733, "door_quality": 0.5918888771372988, "door_open_delta": 0.17603051662445068, "step_quality_mean": 0.4169841101961412, "alignment_abs_mean": 0.6205515240109827, "alignment_signed_mean": -0.5448663617401279, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7027674623091985, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077415606613298, 0.13304412307773122, 1.0409321055075766, 0.15530206142592723, 0.7455618813060317, 0.63363932792995, 0.1360880338631916], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1065181115271994, "base_score": 0.5059471319314388, "final_score": 0.5059471319314388, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11174154281616211, "door_quality": 0.7316275346296162, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6166107637565945, "step_quality_min": 0.49457227081251115, "step_quality_max": 0.9264759665693856, "alignment_signed_mean": 0.15716639315907524, "alignment_abs_mean": 0.15716639315907524, "alignment_min": 0.08488460150522907, "alignment_max": 0.1788337615390846, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1064964495277823, "base_score": 0.5114268362676122, "final_score": 0.7557134181338061, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.028392491991113905, "door_open_delta": 0.13176178932189941, "door_quality": 0.7395461501242815, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6279230716061165, "step_quality_min": 0.49345983202804533, "step_quality_max": 0.9223760258782968, "alignment_signed_mean": 0.07107165972065127, "alignment_abs_mean": 0.20240234953233557, "alignment_min": -0.5976454343809098, "alignment_max": 0.181217292130398, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5086869840995255, "score_before_reliability": 0.6308302750326225, "median_path_length": 1.1065072805274907, "door_quality": 0.7355868423769488, "door_open_delta": 0.12175166606903076, "step_quality_mean": 0.6222669176813556, "alignment_abs_mean": 0.1797843713457054, "alignment_signed_mean": 0.11411902643986326, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6308302750326225, "source": "assisted"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 164, "state": {"door_angle": 0.7265967130661011, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109074831008911, -0.09493577480316162, 1.185903549194336, 0.16568149626255035, 0.8910830020904541, 0.4157409965991974, 0.0753667801618576], "right_arm_pose": [0.4432036280632019, -0.25785842537879944, 1.0136104822158813, -0.1194806843996048, 0.5786870121955872, 0.7682414650917053, 0.24627362191677094], "left_arm_joint_positions": [-0.27013301849365234, 0.025066405534744263, -0.30936500430107117, -1.9453532695770264, 0.8783208131790161, 1.6849818229675293, 0.4531155824661255], "right_arm_joint_positions": [0.3333585262298584, 0.39712095260620117, 0.2952764332294464, -2.4032511711120605, -1.0292750597000122, 0.9241394996643066, -1.613770604133606], "pregrasp_goal_pose": [0.3877405099370159, 0.13304476571437612, 1.040929988979562, 0.15529462315949527, 0.7455632078337182, 0.6336377148346353, 0.136096765140056], "pregrasp_position_error": 0.2808839155751287, "pregrasp_orientation_error_deg": 30.938174543160038}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 60, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.5116234185938142, "strict_length": 0.0, "assisted_length": 1.1066947052219098, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.12712717056274414, "door_quality": 0.7398794977967695, "step_quality_mean": 0.6283992825668137, "step_quality_min": 0.46743885193624957, "step_quality_max": 0.9400880435990343, "alignment_signed_mean": 0.10190842338245475, "alignment_abs_mean": 0.1881646001409239, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.40774050993701594, 0.13304476571437612, 1.040929988979562, 0.15529462315949527, 0.7455632078337182, 0.6336377148346353, 0.136096765140056], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877405099370159, 0.13304476571437612, 1.040929988979562, 0.15529462315949527, 0.7455632078337182, 0.6336377148346353, 0.136096765140056], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193380542481486, "base_score": 0.5205751508205049, "final_score": 0.5205751508205049, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12960410118103027, "door_quality": 0.7560042095577919, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6514345850825599, "step_quality_min": 0.5071785498212827, "step_quality_max": 0.9327268687750634, "alignment_signed_mean": 0.0967897709985954, "alignment_abs_mean": 0.14839984798338668, "alignment_min": -0.31869222538108644, "alignment_max": 0.16849721123539343, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1179494560563008, "base_score": 0.5154609324918302, "final_score": 0.5154609324918302, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12795329093933105, "door_quality": 0.7482306855799306, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6403295508284723, "step_quality_min": 0.5066739141035508, "step_quality_max": 0.9379323392958909, "alignment_signed_mean": 0.0834546861108561, "alignment_abs_mean": 0.16550713986297233, "alignment_min": -0.4923147225126974, "alignment_max": 0.1614109170895393, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5180180416561675, "score_before_reliability": 0.5180180416561675, "median_path_length": 1.1186437551522248, "door_quality": 0.7521174475688612, "door_open_delta": 0.12877869606018066, "step_quality_mean": 0.6458820679555162, "alignment_abs_mean": 0.1569534939231795, "alignment_signed_mean": 0.09012222855472575, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5180180416561675, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677405099370159, 0.13304476571437612, 1.040929988979562, 0.15529462315949527, 0.7455632078337182, 0.6336377148346353, 0.136096765140056], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345444019620743, "base_score": 0.4044264481917129, "final_score": 0.7022132240958565, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.0039680396900089974, "door_open_delta": 0.20130157470703125, "door_quality": 0.5903120842431482, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4147315489187833, "step_quality_min": 0.07252099623867525, "step_quality_max": 0.8760145789317381, "alignment_signed_mean": -0.5402011338578467, "alignment_abs_mean": 0.6322706366541377, "alignment_min": -0.9633320805534789, "alignment_max": 0.3838848499107684, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1345685952260125, "base_score": 0.41176012423869995, "final_score": 0.70588006211935, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.005229629409811148, "door_open_delta": 0.20525336265563965, "door_quality": 0.6010213685004991, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4300305264292845, "step_quality_min": 0.07808187023575397, "step_quality_max": 0.9176991076432829, "alignment_signed_mean": -0.5164327169900399, "alignment_abs_mean": 0.6134636848980854, "alignment_min": -0.9605204026897873, "alignment_max": 0.3314826903604832, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.40809328621520646, "score_before_reliability": 0.7040466431076032, "median_path_length": 1.1345564985940433, "door_quality": 0.5956667263718236, "door_open_delta": 0.20327746868133545, "step_quality_mean": 0.4223810376740339, "alignment_abs_mean": 0.6228671607761116, "alignment_signed_mean": -0.5283169254239433, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7040466431076032, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774050993701594, 0.13304476571437612, 1.040929988979562, 0.15529462315949527, 0.7455632078337182, 0.6336377148346353, 0.136096765140056], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1067562485468985, "base_score": 0.5179326245315705, "final_score": 0.7589663122657853, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.010295117234491323, "door_open_delta": 0.12990927696228027, "door_quality": 0.7490186737962445, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6414552482803494, "step_quality_min": 0.49416019187902, "step_quality_max": 0.9400880435990343, "alignment_signed_mean": 0.12482001356207238, "alignment_abs_mean": 0.1719202579691941, "alignment_min": -0.5344167051618869, "alignment_max": 0.1829576698667672, "door_contact_steps": 18, "path_steps": 28}, {"path_found": true, "path_length": 1.1066331618969212, "base_score": 0.5053142126560579, "final_score": 0.752657106328029, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.01691486750766774, "door_open_delta": 0.12434506416320801, "door_quality": 0.7307403217972944, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6153433168532778, "step_quality_min": 0.46743885193624957, "step_quality_max": 0.9287712128416661, "alignment_signed_mean": 0.07899683320283711, "alignment_abs_mean": 0.20440894231265366, "alignment_min": -0.6083224728149702, "alignment_max": 0.17967437068066042, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5116234185938142, "score_before_reliability": 0.7558117092969071, "median_path_length": 1.1066947052219098, "door_quality": 0.7398794977967695, "door_open_delta": 0.12712717056274414, "step_quality_mean": 0.6283992825668137, "alignment_abs_mean": 0.1881646001409239, "alignment_signed_mean": 0.10190842338245475, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7558117092969071, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 165, "state": {"door_angle": 0.7279337644577026, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31089141964912415, -0.09492990374565125, 1.1860524415969849, 0.16562184691429138, 0.8910866379737854, 0.41573289036750793, 0.0754995122551918], "right_arm_pose": [0.4415242373943329, -0.2656953036785126, 1.0143457651138306, -0.1363283097743988, 0.5878794193267822, 0.7583281993865967, 0.24647670984268188], "left_arm_joint_positions": [-0.27013659477233887, 0.02474573254585266, -0.309388130903244, -1.945202350616455, 0.878318190574646, 1.6849734783172607, 0.4531131982803345], "right_arm_joint_positions": [0.33716607093811035, 0.3803412914276123, 0.3116147816181183, -2.4030284881591797, -1.0279990434646606, 0.9432783126831055, -1.6532636880874634], "pregrasp_goal_pose": [0.38774134483803246, 0.13304395512565187, 1.0409309424986382, 0.15529757826588864, 0.7455633876093261, 0.6336375251834834, 0.13609329124026073], "pregrasp_position_error": 0.2809595003390437, "pregrasp_orientation_error_deg": 30.935303208316757}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.4121484507435702, "strict_length": 0.0, "assisted_length": 1.1346594008681832, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.2501777410507202, "door_quality": 0.6016062440780109, "step_quality_mean": 0.430866062968587, "step_quality_min": 0.05832884823459683, "step_quality_max": 0.9193761059388441, "alignment_signed_mean": -0.5827270437636691, "alignment_abs_mean": 0.6530007512266205, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.36774134483803245, 0.13304395512565187, 1.0409309424986382, 0.15529757826588864, 0.7455633876093261, 0.6336375251834834, 0.13609329124026073], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774134483803246, 0.13304395512565187, 1.0409309424986382, 0.15529757826588864, 0.7455633876093261, 0.6336375251834834, 0.13609329124026073], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1194005249051178, "base_score": 0.5174281874811455, "final_score": 0.5174281874811455, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12590551376342773, "door_quality": 0.751449686104041, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6449281230057728, "step_quality_min": 0.5068422390505966, "step_quality_max": 0.9342066691541694, "alignment_signed_mean": 0.12838126169640182, "alignment_abs_mean": 0.12838126169640182, "alignment_min": 0.04769782147302477, "alignment_max": 0.16406442763225748, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.117848931423873, "base_score": 0.5354367052937793, "final_score": 0.5354367052937793, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12710237503051758, "door_quality": 0.7772009936322153, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6817157051888791, "step_quality_min": 0.4321547693365712, "step_quality_max": 0.9780746743508242, "alignment_signed_mean": 0.047578022559216136, "alignment_abs_mean": 0.14523608132123472, "alignment_min": -0.27313478234721195, "alignment_max": 0.27972218289078954, "door_contact_steps": 14, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5264324463874623, "score_before_reliability": 0.5264324463874623, "median_path_length": 1.1186247281644954, "door_quality": 0.7643253398681281, "door_open_delta": 0.12650394439697266, "step_quality_mean": 0.663321914097326, "alignment_abs_mean": 0.13680867150881826, "alignment_signed_mean": 0.08797964212780898, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5264324463874623, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774134483803245, 0.13304395512565187, 1.0409309424986382, 0.15529757826588864, 0.7455633876093261, 0.6336375251834834, 0.13609329124026073], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.13468595721532, "base_score": 0.4004891913209497, "final_score": 0.7002445956604748, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.0039366826788090475, "door_open_delta": 0.2152702808380127, "door_quality": 0.5845927380910101, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.40656105441572865, "step_quality_min": 0.05832884823459683, "step_quality_max": 0.9130537523123324, "alignment_signed_mean": -0.5453899636768701, "alignment_abs_mean": 0.6283747907082555, "alignment_min": -0.9705078857240804, "alignment_max": 0.4633247254322536, "door_contact_steps": 10, "path_steps": 28}, {"path_found": true, "path_length": 1.1346328445210465, "base_score": 0.4238077101661908, "final_score": 0.7119038550830954, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.004987827599731676, "door_open_delta": 0.28508520126342773, "door_quality": 0.6186197500650117, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.45517107152144537, "step_quality_min": 0.06351280261624326, "step_quality_max": 0.9193761059388441, "alignment_signed_mean": -0.6200641238504682, "alignment_abs_mean": 0.6776267117449855, "alignment_min": -0.9678867851940341, "alignment_max": 0.3200853298900325, "door_contact_steps": 12, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4121484507435702, "score_before_reliability": 0.7060742253717851, "median_path_length": 1.1346594008681832, "door_quality": 0.6016062440780109, "door_open_delta": 0.2501777410507202, "step_quality_mean": 0.430866062968587, "alignment_abs_mean": 0.6530007512266205, "alignment_signed_mean": -0.5827270437636691, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7060742253717851, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077413448380325, 0.13304395512565187, 1.0409309424986382, 0.15529757826588864, 0.7455633876093261, 0.6336375251834834, 0.13609329124026073], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1068245297909285, "base_score": 0.5073588581736344, "final_score": 0.5073588581736344, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11828255653381348, "door_quality": 0.7337439092035876, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6196341560051252, "step_quality_min": 0.49435103901830174, "step_quality_max": 0.9209809552871491, "alignment_signed_mean": 0.09804712852501238, "alignment_abs_mean": 0.18266807299964782, "alignment_min": -0.48657043072915385, "alignment_max": 0.17935952552968729, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1067230034887525, "base_score": 0.5082255524689339, "final_score": 0.7541127762344669, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.028523452576356988, "door_open_delta": 0.13260817527770996, "door_quality": 0.7349724516719054, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6213892166741506, "step_quality_min": 0.4771893315813104, "step_quality_max": 0.9306979570828277, "alignment_signed_mean": 0.07505394781602112, "alignment_abs_mean": 0.2001441121918917, "alignment_min": -0.5965254436541745, "alignment_max": 0.2046844473644826, "door_contact_steps": 20, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5077922053212841, "score_before_reliability": 0.6307358172040507, "median_path_length": 1.1067737666398405, "door_quality": 0.7343581804377465, "door_open_delta": 0.12544536590576172, "step_quality_mean": 0.6205116863396378, "alignment_abs_mean": 0.19140609259576977, "alignment_signed_mean": 0.08655053817051675, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6307358172040507, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 166, "state": {"door_angle": 0.7275024652481079, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109253942966461, -0.09489285945892334, 1.1860370635986328, 0.16562066972255707, 0.8910884261131287, 0.4157300591468811, 0.07549715787172318], "right_arm_pose": [0.43992879986763, -0.2737438380718231, 1.0152530670166016, -0.15367984771728516, 0.5962792634963989, 0.7484753131866455, 0.24620796740055084], "left_arm_joint_positions": [-0.2701249122619629, 0.0248430073261261, -0.30936190485954285, -1.945030689239502, 0.8783212900161743, 1.6850359439849854, 0.45309674739837646], "right_arm_joint_positions": [0.34091997146606445, 0.36345362663269043, 0.32793644070625305, -2.4026145935058594, -1.0267168283462524, 0.9625182151794434, -1.692780613899231], "pregrasp_goal_pose": [0.38774121163757536, 0.13304423759625267, 1.0409290572105854, 0.15529629458505312, 0.7455586198706973, 0.6336431182554499, 0.13609483425965588], "pregrasp_position_error": 0.2809133737037262, "pregrasp_orientation_error_deg": 30.936603145586435}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.5099768749231441, "strict_length": 0.0, "assisted_length": 1.1066585493314252, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.13102293014526367, "door_quality": 0.7374892862578377, "step_quality_mean": 0.6249846946540538, "step_quality_min": 0.49116849722202816, "step_quality_max": 0.9299031735342296, "alignment_signed_mean": 0.07280074602476744, "alignment_abs_mean": 0.19819485393241543, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.4077412116375754, 0.13304423759625267, 1.0409290572105854, 0.15529629458505312, 0.7455586198706973, 0.6336431182554499, 0.13609483425965588], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774121163757536, 0.13304423759625267, 1.0409290572105854, 0.15529629458505312, 0.7455586198706973, 0.6336431182554499, 0.13609483425965588], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193291207608707, "base_score": 0.5190135664370322, "final_score": 0.5190135664370322, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12946343421936035, "door_quality": 0.7537341573014286, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6481916532877552, "step_quality_min": 0.5099036754054284, "step_quality_max": 0.9336201231936716, "alignment_signed_mean": 0.07596484829452162, "alignment_abs_mean": 0.16300339276402892, "alignment_min": -0.5178793395935681, "alignment_max": 0.16678903788040295, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178120982000352, "base_score": 0.5236983512702649, "final_score": 0.5236983512702649, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13219761848449707, "door_quality": 0.7601531193227988, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6573615990325699, "step_quality_min": 0.46956864928969466, "step_quality_max": 0.9887429580962185, "alignment_signed_mean": 0.03133337151368209, "alignment_abs_mean": 0.1757877622914092, "alignment_min": -0.5936998390787376, "alignment_max": 0.2827016145659793, "door_contact_steps": 18, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5213559588536485, "score_before_reliability": 0.5213559588536485, "median_path_length": 1.1185706094804528, "door_quality": 0.7569436383121138, "door_open_delta": 0.1308305263519287, "step_quality_mean": 0.6527766261601625, "alignment_abs_mean": 0.16939557752771905, "alignment_signed_mean": 0.05364910990410185, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5213559588536485, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774121163757534, 0.13304423759625267, 1.0409290572105854, 0.15529629458505312, 0.7455586198706973, 0.6336431182554499, 0.13609483425965588], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344998906080608, "base_score": 0.45351017378109776, "final_score": 0.45351017378109776, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13708066940307617, "door_quality": 0.6619462328790844, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5170660469701207, "step_quality_min": 0.11407614707356795, "step_quality_max": 0.8525840103132472, "alignment_signed_mean": -0.3500788761162537, "alignment_abs_mean": 0.4122954154594247, "alignment_min": -0.9423210492324656, "alignment_max": 0.2863810802267278, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1345029435898584, "base_score": 0.4071415413015456, "final_score": 0.7035707706507728, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.005283468484356495, "door_open_delta": 0.21281051635742188, "door_quality": 0.5942668971056243, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.42038128157946336, "step_quality_min": 0.07235424959441306, "step_quality_max": 0.9273847269575229, "alignment_signed_mean": -0.550699263430487, "alignment_abs_mean": 0.6230360972079096, "alignment_min": -0.9634163906545102, "alignment_max": 0.28698174870749377, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4303258575413217, "score_before_reliability": 0.5785404722159353, "median_path_length": 1.1345014170989596, "door_quality": 0.6281065649923543, "door_open_delta": 0.17494559288024902, "step_quality_mean": 0.46872366427479206, "alignment_abs_mean": 0.5176657563336672, "alignment_signed_mean": -0.45038906977337034, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.5785404722159353, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077412116375754, 0.13304423759625267, 1.0409290572105854, 0.15529629458505312, 0.7455586198706973, 0.6336431182554499, 0.13609483425965588], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106677901323079, "base_score": 0.5096975452551649, "final_score": 0.7548487726275824, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.023398800452515005, "door_open_delta": 0.1294384002685547, "door_quality": 0.7370900984955998, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6244144264222855, "step_quality_min": 0.49393650516043264, "step_quality_max": 0.9230501219603542, "alignment_signed_mean": 0.07416728595344858, "alignment_abs_mean": 0.19596084305373102, "alignment_min": -0.5819245056619282, "alignment_max": 0.17912810174406293, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1066391973397711, "base_score": 0.5102562045911233, "final_score": 0.7551281022955616, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.028316494708320653, "door_open_delta": 0.13260746002197266, "door_quality": 0.7378884740200755, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6255549628858222, "step_quality_min": 0.49116849722202816, "step_quality_max": 0.9299031735342296, "alignment_signed_mean": 0.07143420609608628, "alignment_abs_mean": 0.2004288648110998, "alignment_min": -0.598141882663948, "alignment_max": 0.18138583796328628, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5099768749231441, "score_before_reliability": 0.7549884374615721, "median_path_length": 1.1066585493314252, "door_quality": 0.7374892862578377, "door_open_delta": 0.13102293014526367, "step_quality_mean": 0.6249846946540538, "alignment_abs_mean": 0.19819485393241543, "alignment_signed_mean": 0.07280074602476744, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7549884374615721, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 167, "state": {"door_angle": 0.7245410680770874, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.31087955832481384, -0.09492211043834686, 1.1861249208450317, 0.165591761469841, 0.8910900354385376, 0.41572305560112, 0.0755804255604744], "right_arm_pose": [0.43848323822021484, -0.2819664478302002, 1.0163519382476807, -0.17147043347358704, 0.6037944555282593, 0.7387593388557434, 0.2454889714717865], "left_arm_joint_positions": [-0.270122766494751, 0.024419575929641724, -0.30938073992729187, -1.9451854228973389, 0.8783172369003296, 1.6850545406341553, 0.4531017541885376], "right_arm_joint_positions": [0.34469032287597656, 0.34641098976135254, 0.3442580997943878, -2.4023218154907227, -1.0254713296890259, 0.9817299842834473, -1.7322462797164917], "pregrasp_goal_pose": [0.3877414879188378, 0.1330448468215219, 1.0409305306998438, 0.15530005643469383, 0.7455602677378201, 0.6336412093687259, 0.13609040168883813], "pregrasp_position_error": 0.2809948411499268, "pregrasp_orientation_error_deg": 30.934650873122436}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.4436510152965266, "strict_length": 0.0, "assisted_length": 1.1346859249917354, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.1723637580871582, "door_quality": 0.6475966375016178, "step_quality_mean": 0.4965666250023112, "step_quality_min": 0.09523080461131472, "step_quality_max": 0.8832353877624683, "alignment_signed_mean": -0.36766028585574845, "alignment_abs_mean": 0.4638897277016911, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.36774148791883776, 0.1330448468215219, 1.0409305306998438, 0.15530005643469383, 0.7455602677378201, 0.6336412093687259, 0.13609040168883813], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877414879188378, 0.1330448468215219, 1.0409305306998438, 0.15530005643469383, 0.7455602677378201, 0.6336412093687259, 0.13609040168883813], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1194598630071821, "base_score": 0.51860288425319, "final_score": 0.51860288425319, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12858033180236816, "door_quality": 0.7531705697289919, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6473865281842742, "step_quality_min": 0.5095506130628689, "step_quality_max": 0.940808952084261, "alignment_signed_mean": 0.04724155476283315, "alignment_abs_mean": 0.17284082220400288, "alignment_min": -0.6018320016526965, "alignment_max": 0.16331496285309474, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1179166082434233, "base_score": 0.5153202108311934, "final_score": 0.5153202108311934, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12522363662719727, "door_quality": 0.7480182271045792, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6400260387208274, "step_quality_min": 0.5066356568971339, "step_quality_max": 0.9331592543255625, "alignment_signed_mean": 0.0866357926923781, "alignment_abs_mean": 0.16617775801587265, "alignment_min": -0.47725179194096723, "alignment_max": 0.166300545564579, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5169615475421917, "score_before_reliability": 0.5169615475421917, "median_path_length": 1.1186882356253027, "door_quality": 0.7505943984167855, "door_open_delta": 0.12690198421478271, "step_quality_mean": 0.6437062834525509, "alignment_abs_mean": 0.16950929010993776, "alignment_signed_mean": 0.06693867372760562, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5169615475421917, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774148791883776, 0.1330448468215219, 1.0409305306998438, 0.15530005643469383, 0.7455602677378201, 0.6336412093687259, 0.13609040168883813], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1346306926529914, "base_score": 0.41627823608193704, "final_score": 0.7081391180409685, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.003928564831311931, "door_open_delta": 0.20455574989318848, "door_quality": 0.6076287605686095, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.43946965795515647, "step_quality_min": 0.09523080461131472, "step_quality_max": 0.8832353877624683, "alignment_signed_mean": -0.4997828751799872, "alignment_abs_mean": 0.5857286643561818, "alignment_min": -0.9518495931740543, "alignment_max": 0.3085757566360491, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.134741157330479, "base_score": 0.47102379451111626, "final_score": 0.7355118972555581, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.007303836014937025, "door_open_delta": 0.14017176628112793, "door_quality": 0.6875645144346261, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5536635920494659, "step_quality_min": 0.1547685999424543, "step_quality_max": 0.858156579481202, "alignment_signed_mean": -0.23553769653150972, "alignment_abs_mean": 0.3420507910472005, "alignment_min": -0.9217462135122422, "alignment_max": 0.3684551752443732, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4436510152965266, "score_before_reliability": 0.7218255076482634, "median_path_length": 1.1346859249917354, "door_quality": 0.6475966375016178, "door_open_delta": 0.1723637580871582, "step_quality_mean": 0.4965666250023112, "alignment_abs_mean": 0.4638897277016911, "alignment_signed_mean": -0.36766028585574845, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7218255076482634, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077414879188378, 0.1330448468215219, 1.0409305306998438, 0.15530005643469383, 0.7455602677378201, 0.6336412093687259, 0.13609040168883813], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1067971929891536, "base_score": 0.5054328933562695, "final_score": 0.5054328933562695, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11022233963012695, "door_quality": 0.7309519124228618, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.615645589175517, "step_quality_min": 0.494423993587985, "step_quality_max": 0.9297698257752167, "alignment_signed_mean": 0.1529204634971739, "alignment_abs_mean": 0.1529204634971739, "alignment_min": 0.0661332864817612, "alignment_max": 0.17830987528595496, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1069808526377318, "base_score": 0.5076263332677491, "final_score": 0.5076263332677491, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11234402656555176, "door_quality": 0.7341689872891988, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6202414104131412, "step_quality_min": 0.49295748786483706, "step_quality_max": 0.9250153533567413, "alignment_signed_mean": 0.14266677824849774, "alignment_abs_mean": 0.14343975021082053, "alignment_min": -0.0045025616805302645, "alignment_max": 0.17886588534378367, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5065296133120093, "score_before_reliability": 0.5065296133120093, "median_path_length": 1.1068890228134427, "door_quality": 0.7325604498560303, "door_open_delta": 0.11128318309783936, "step_quality_mean": 0.6179434997943292, "alignment_abs_mean": 0.1481801068539972, "alignment_signed_mean": 0.14779362087283582, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5065296133120093, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 168, "state": {"door_angle": 0.7230437994003296, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31090396642684937, -0.09491904079914093, 1.186030387878418, 0.16562779247760773, 0.8910794258117676, 0.41574785113334656, 0.07548954337835312], "right_arm_pose": [0.4371813237667084, -0.2903657555580139, 1.0175938606262207, -0.18969672918319702, 0.6104263663291931, 0.7291591167449951, 0.24438050389289856], "left_arm_joint_positions": [-0.27013564109802246, 0.0249347984790802, -0.3093695342540741, -1.9452292919158936, 0.8783563375473022, 1.6849725246429443, 0.45310747623443604], "right_arm_joint_positions": [0.3485114574432373, 0.32962703704833984, 0.36051133275032043, -2.4020795822143555, -1.0241554975509644, 1.0008695125579834, -1.771774411201477], "pregrasp_goal_pose": [0.38774099289906355, 0.1330446170562714, 1.0409312096290633, 0.15530087112721344, 0.7455607585743245, 0.6336406385439223, 0.13608944076178964], "pregrasp_position_error": 0.280936166181126, "pregrasp_orientation_error_deg": 30.93407807913964}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.5257563469012381, "strict_length": 0.0, "assisted_length": 1.1344980454148643, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.13803493976593018, "door_quality": 0.7673966711698825, "step_quality_mean": 0.6677095302426893, "step_quality_min": 0.5164366479216799, "step_quality_max": 0.9455004143483732, "alignment_signed_mean": 0.0697008302677712, "alignment_abs_mean": 0.14454680499459566, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.36774099289906353, 0.1330446170562714, 1.0409312096290633, 0.15530087112721344, 0.7455607585743245, 0.6336406385439223, 0.13608944076178964], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774099289906355, 0.1330446170562714, 1.0409312096290633, 0.15530087112721344, 0.7455607585743245, 0.6336406385439223, 0.13608944076178964], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193293890234017, "base_score": 0.5187959456905702, "final_score": 0.5187959456905702, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1209716796875, "door_quality": 0.7534181863250631, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6477402661786617, "step_quality_min": 0.4953342532753977, "step_quality_max": 0.9363166977047067, "alignment_signed_mean": 0.12137173871487533, "alignment_abs_mean": 0.12137173871487533, "alignment_min": 0.04295393823259719, "alignment_max": 0.1700740827558868, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178489528573616, "base_score": 0.5144840551676042, "final_score": 0.5144840551676042, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12189865112304688, "door_quality": 0.7467876553617729, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6382680790882471, "step_quality_min": 0.5048708229026804, "step_quality_max": 0.9326874470463876, "alignment_signed_mean": 0.1375371908164662, "alignment_abs_mean": 0.1375371908164662, "alignment_min": 0.06931361144394035, "alignment_max": 0.1693796601020369, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5166400004290872, "score_before_reliability": 0.5166400004290872, "median_path_length": 1.1185891709403817, "door_quality": 0.750102920843418, "door_open_delta": 0.12143516540527344, "step_quality_mean": 0.6430041726334543, "alignment_abs_mean": 0.12945446476567077, "alignment_signed_mean": 0.12945446476567077, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5166400004290872, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774099289906353, 0.1330446170562714, 1.0409312096290633, 0.15530087112721344, 0.7455607585743245, 0.6336406385439223, 0.13608944076178964], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344333757693184, "base_score": 0.5272677750157104, "final_score": 0.7636338875078552, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.009820009097426946, "door_open_delta": 0.14143872261047363, "door_quality": 0.7695862171405521, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6708374530579315, "step_quality_min": 0.5184167461706396, "step_quality_max": 0.94225388521482, "alignment_signed_mean": 0.07817107443655619, "alignment_abs_mean": 0.1382216936240631, "alignment_min": -0.550847950945524, "alignment_max": 0.15423724905915567, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1345627150604103, "base_score": 0.5242449187867658, "final_score": 0.5242449187867658, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13463115692138672, "door_quality": 0.765207125199213, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6645816074274471, "step_quality_min": 0.5164366479216799, "step_quality_max": 0.9455004143483732, "alignment_signed_mean": 0.06123058609898621, "alignment_abs_mean": 0.1508719163651282, "alignment_min": -0.5378479815968521, "alignment_max": 0.15965748050797804, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5257563469012381, "score_before_reliability": 0.6439394031473105, "median_path_length": 1.1344980454148643, "door_quality": 0.7673966711698825, "door_open_delta": 0.13803493976593018, "step_quality_mean": 0.6677095302426893, "alignment_abs_mean": 0.14454680499459566, "alignment_signed_mean": 0.0697008302677712, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6439394031473105, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774099289906357, 0.1330446170562714, 1.0409312096290633, 0.15530087112721344, 0.7455607585743245, 0.6336406385439223, 0.13608944076178964], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066638856515472, "base_score": 0.511266279382596, "final_score": 0.755633139691298, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.02842794213299505, "door_open_delta": 0.12839150428771973, "door_quality": 0.7393552414389712, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6276503449128161, "step_quality_min": 0.4930036042931235, "step_quality_max": 0.9248892399562137, "alignment_signed_mean": 0.07213741820435797, "alignment_abs_mean": 0.2020699170728823, "alignment_min": -0.5942380237722013, "alignment_max": 0.17830745796320244, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1066831009376554, "base_score": 0.5061219847616493, "final_score": 0.5061219847616493, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.10855674743652344, "door_quality": 0.7319206334368948, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6170294763384213, "step_quality_min": 0.49516101107547206, "step_quality_max": 0.92301561048915, "alignment_signed_mean": 0.15487522101991208, "alignment_abs_mean": 0.15487522101991208, "alignment_min": 0.061997043804223335, "alignment_max": 0.18490290826053665, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5086941320721226, "score_before_reliability": 0.6308775622264736, "median_path_length": 1.1066734932946014, "door_quality": 0.735637937437933, "door_open_delta": 0.11847412586212158, "step_quality_mean": 0.6223399106256187, "alignment_abs_mean": 0.1784725690463972, "alignment_signed_mean": 0.11350631961213503, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6308775622264736, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 169, "state": {"door_angle": 0.7281941175460815, "tray_height": 1.0474828481674194, "tray_grasped_left": false, "left_arm_pose": [0.31088021397590637, -0.0949074923992157, 1.1859886646270752, 0.16564609110355377, 0.8910728096961975, 0.4157586395740509, 0.07546842098236084], "right_arm_pose": [0.43599560856819153, -0.298947274684906, 1.0189801454544067, -0.20832906663417816, 0.6161386370658875, 0.7197203040122986, 0.24284769594669342], "left_arm_joint_positions": [-0.2701277732849121, 0.024767667055130005, -0.3093871772289276, -1.9453868865966797, 0.8783429861068726, 1.6850075721740723, 0.4530876874923706], "right_arm_joint_positions": [0.3522653579711914, 0.312666654586792, 0.3767576515674591, -2.4017457962036133, -1.0229402780532837, 1.0200471878051758, -1.8112343549728394], "pregrasp_goal_pose": [0.38774827357270414, 0.13303806154900488, 1.0409324322806481, 0.15530238604372626, 0.7455620457572287, 0.6336392038918641, 0.13608733999423286], "pregrasp_position_error": 0.2809077868153153, "pregrasp_orientation_error_deg": 30.93300903412496}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.41070528661583894, "strict_length": 0.0, "assisted_length": 1.1344444334671784, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.21082723140716553, "door_quality": 0.5994568800208793, "step_quality_mean": 0.4277955428869704, "step_quality_min": 0.045512739897001664, "step_quality_max": 0.9233196570771842, "alignment_signed_mean": -0.5227655244216398, "alignment_abs_mean": 0.6094481022882878, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3677482735727041, 0.13303806154900488, 1.0409324322806481, 0.15530238604372626, 0.7455620457572287, 0.6336392038918641, 0.13608733999423286], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774827357270414, 0.13303806154900488, 1.0409324322806481, 0.15530238604372626, 0.7455620457572287, 0.6336392038918641, 0.13608733999423286], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192394299909556, "base_score": 0.5207778247613656, "final_score": 0.7603889123806828, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.009158720010400953, "door_open_delta": 0.13466453552246094, "door_quality": 0.75627367965972, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6518195423710288, "step_quality_min": 0.5081365236523193, "step_quality_max": 0.9408656800554017, "alignment_signed_mean": 0.07642175726410766, "alignment_abs_mean": 0.15927228407114377, "alignment_min": -0.5676744638978763, "alignment_max": 0.1645402552725175, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1177284178287328, "base_score": 0.5257818758041531, "final_score": 0.5257818758041531, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1293799877166748, "door_quality": 0.7631560875682948, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6616515536689926, "step_quality_min": 0.3608148696109759, "step_quality_max": 0.9390377029217707, "alignment_signed_mean": -0.10599710232379293, "alignment_abs_mean": 0.21942169614787152, "alignment_min": -0.7879992393105002, "alignment_max": 0.39864188398170675, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5232798502827594, "score_before_reliability": 0.6430853940924179, "median_path_length": 1.118483923909844, "door_quality": 0.7597148836140074, "door_open_delta": 0.13202226161956787, "step_quality_mean": 0.6567355480200108, "alignment_abs_mean": 0.18934699010950765, "alignment_signed_mean": -0.014787672529842637, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6430853940924179, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677482735727041, 0.13303806154900488, 1.0409324322806481, 0.15530238604372626, 0.7455620457572287, 0.6336392038918641, 0.13608733999423286], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344478539502634, "base_score": 0.4134907156692309, "final_score": 0.7067453578346155, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.0051858103683334105, "door_open_delta": 0.2055189609527588, "door_quality": 0.603523117683616, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4336044538337372, "step_quality_min": 0.08508330299915734, "step_quality_max": 0.9159060550390513, "alignment_signed_mean": -0.5162837740111423, "alignment_abs_mean": 0.614029930370344, "alignment_min": -0.9569803524161564, "alignment_max": 0.3462482904509711, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1344410129840936, "base_score": 0.407919857562447, "final_score": 0.7039599287812235, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.003905421426660208, "door_open_delta": 0.21613550186157227, "door_quality": 0.5953906423581425, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4219866319402036, "step_quality_min": 0.045512739897001664, "step_quality_max": 0.9233196570771842, "alignment_signed_mean": -0.5292472748321374, "alignment_abs_mean": 0.6048662742062317, "alignment_min": -0.9769879405015159, "alignment_max": 0.2696161651190588, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.41070528661583894, "score_before_reliability": 0.7053526433079195, "median_path_length": 1.1344444334671784, "door_quality": 0.5994568800208793, "door_open_delta": 0.21082723140716553, "step_quality_mean": 0.4277955428869704, "alignment_abs_mean": 0.6094481022882878, "alignment_signed_mean": -0.5227655244216398, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7053526433079195, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774827357270416, 0.13303806154900488, 1.0409324322806481, 0.15530238604372626, 0.7455620457572287, 0.6336392038918641, 0.13608733999423286], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106576973846968, "base_score": 0.5023393335046311, "final_score": 0.5023393335046311, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1135869026184082, "door_quality": 0.7264247114466713, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6091781592095306, "step_quality_min": 0.4776888092067984, "step_quality_max": 0.9245162811539541, "alignment_signed_mean": 0.15836885336766737, "alignment_abs_mean": 0.15836885336766737, "alignment_min": 0.1059637526392187, "alignment_max": 0.20385198465533588, "door_contact_steps": 20, "path_steps": 28}, {"path_found": true, "path_length": 1.106556496126326, "base_score": 0.5038118674197075, "final_score": 0.7519059337098537, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.015392356876806004, "door_open_delta": 0.12459111213684082, "door_quality": 0.7285491456822795, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6122130652603993, "step_quality_min": 0.45733735260879704, "step_quality_max": 0.9296907908491421, "alignment_signed_mean": 0.075856277723444, "alignment_abs_mean": 0.20530997076920354, "alignment_min": -0.6131719982146093, "alignment_max": 0.20481931686361057, "door_contact_steps": 20, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5030756004621693, "score_before_reliability": 0.6271226336072424, "median_path_length": 1.106566734986647, "door_quality": 0.7274869285644754, "door_open_delta": 0.11908900737762451, "step_quality_mean": 0.6106956122349649, "alignment_abs_mean": 0.18183941206843546, "alignment_signed_mean": 0.11711256554555569, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6271226336072424, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 170, "state": {"door_angle": 0.7253099679946899, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3108883798122406, -0.09490315616130829, 1.1860214471817017, 0.16561900079250336, 0.8910874128341675, 0.41573914885520935, 0.07546243071556091], "right_arm_pose": [0.4350108504295349, -0.30772164463996887, 1.0205516815185547, -0.22734469175338745, 0.6209360361099243, 0.71043860912323, 0.2408939003944397], "left_arm_joint_positions": [-0.27011680603027344, 0.024823695421218872, -0.3093731105327606, -1.9452450275421143, 0.8783184289932251, 1.6849548816680908, 0.45311200618743896], "right_arm_joint_positions": [0.35602664947509766, 0.2958862781524658, 0.39313438534736633, -2.401434898376465, -1.021630883216858, 1.0392541885375977, -1.8507620096206665], "pregrasp_goal_pose": [0.3877418709519068, 0.13304433616928563, 1.040930310514788, 0.1552987858007101, 0.7455601985211374, 0.6336412814284051, 0.13609189534912072], "pregrasp_position_error": 0.2809233993448355, "pregrasp_orientation_error_deg": 30.93622782373586}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.5184066733663466, "strict_length": 0.0, "assisted_length": 1.118588493741615, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.12991392612457275, "door_quality": 0.7526664714550169, "step_quality_mean": 0.6466663877928813, "step_quality_min": 0.4885196897973369, "step_quality_max": 0.9367314328795789, "alignment_signed_mean": 0.0528005815862882, "alignment_abs_mean": 0.17630551357223034, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3877418709519068, 0.13304433616928563, 1.040930310514788, 0.1552987858007101, 0.7455601985211374, 0.6336412814284051, 0.13609189534912072], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877418709519068, 0.13304433616928563, 1.040930310514788, 0.1552987858007101, 0.7455601985211374, 0.6336412814284051, 0.13609189534912072], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193815873221158, "base_score": 0.5170585741100199, "final_score": 0.75852928705501, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.012260604006114562, "door_open_delta": 0.1307051181793213, "door_quality": 0.7509081645125155, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6441545207321652, "step_quality_min": 0.4885196897973369, "step_quality_max": 0.9344178663626346, "alignment_signed_mean": 0.062114326437921585, "alignment_abs_mean": 0.17398617057655916, "alignment_min": -0.6152998999134669, "alignment_max": 0.1771945611136005, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1177954001611143, "base_score": 0.5197547726226732, "final_score": 0.5197547726226732, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12912273406982422, "door_quality": 0.7544247783975181, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6491782548535974, "step_quality_min": 0.4931288662305599, "step_quality_max": 0.9367314328795789, "alignment_signed_mean": 0.04348683673465482, "alignment_abs_mean": 0.17862485656790156, "alignment_min": -0.6097845202708952, "alignment_max": 0.1700589166227139, "door_contact_steps": 18, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5184066733663466, "score_before_reliability": 0.6391420298388416, "median_path_length": 1.118588493741615, "door_quality": 0.7526664714550169, "door_open_delta": 0.12991392612457275, "step_quality_mean": 0.6466663877928813, "alignment_abs_mean": 0.17630551357223034, "alignment_signed_mean": 0.0528005815862882, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6391420298388416, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677418709519068, 0.13304433616928563, 1.040930310514788, 0.1552987858007101, 0.7455601985211374, 0.6336412814284051, 0.13609189534912072], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134613794165581, "base_score": 0.5223034943694407, "final_score": 0.5223034943694407, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13381361961364746, "door_quality": 0.7623863314222177, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6605519020317395, "step_quality_min": 0.4771791585932615, "step_quality_max": 0.9759666005228902, "alignment_signed_mean": 0.1122898735091765, "alignment_abs_mean": 0.1122898735091765, "alignment_min": 0.04005566579518304, "alignment_max": 0.1926612640999352, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1345098253080514, "base_score": 0.44757024196792355, "final_score": 0.7237851209839617, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.00721857170068692, "door_open_delta": 0.14272427558898926, "door_quality": 0.6532784353222453, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.504683479031779, "step_quality_min": 0.08222739409555069, "step_quality_max": 0.9188619108944952, "alignment_signed_mean": -0.39228003412565077, "alignment_abs_mean": 0.48163383385748326, "alignment_min": -0.9584243513000024, "alignment_max": 0.36879213390630633, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4849368681686821, "score_before_reliability": 0.6230443076767012, "median_path_length": 1.1345618097368162, "door_quality": 0.7078323833722315, "door_open_delta": 0.13826894760131836, "step_quality_mean": 0.5826176905317593, "alignment_abs_mean": 0.2969618536833299, "alignment_signed_mean": -0.13999508030823712, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6230443076767012, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774187095190684, 0.13304433616928563, 1.040930310514788, 0.1552987858007101, 0.7455601985211374, 0.6336412814284051, 0.13609189534912072], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1067327182313904, "base_score": 0.5098260004229921, "final_score": 0.5098260004229921, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11639142036437988, "door_quality": 0.7372893335175452, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6246990478822075, "step_quality_min": 0.4942934706844343, "step_quality_max": 0.9288079352786403, "alignment_signed_mean": 0.08746899814420597, "alignment_abs_mean": 0.18187545869994848, "alignment_min": -0.5263160175982642, "alignment_max": 0.18381702771707215, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1067954607227601, "base_score": 0.5070301161312609, "final_score": 0.5070301161312609, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11267995834350586, "door_quality": 0.7332613763621093, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6189448233744419, "step_quality_min": 0.49521631518907666, "step_quality_max": 0.9385798598225908, "alignment_signed_mean": 0.15526300268329857, "alignment_abs_mean": 0.15526300268329857, "alignment_min": 0.033317170929867544, "alignment_max": 0.18423057218564295, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5084280582771266, "score_before_reliability": 0.5084280582771266, "median_path_length": 1.1067640894770752, "door_quality": 0.7352753549398272, "door_open_delta": 0.11453568935394287, "step_quality_mean": 0.6218219356283248, "alignment_abs_mean": 0.16856923069162352, "alignment_signed_mean": 0.12136600041375227, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5084280582771266, "source": "assisted"}]}, "p_ext": {"initial_height": 1.047481894493103, "final_height": 1.047481894493103, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481894493103}], "score": 0.0007339318593343093}}
+{"frame_index": 171, "state": {"door_angle": 0.7246884107589722, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31092575192451477, -0.094924196600914, 1.1859607696533203, 0.1656375378370285, 0.8910878300666809, 0.41573792695999146, 0.07542319595813751], "right_arm_pose": [0.43417876958847046, -0.316680371761322, 1.022279977798462, -0.24665690958499908, 0.6247896552085876, 0.7013418674468994, 0.23857493698596954], "left_arm_joint_positions": [-0.27011561393737793, 0.025124818086624146, -0.3093678653240204, -1.945138692855835, 0.8783119916915894, 1.6849844455718994, 0.453121542930603], "right_arm_joint_positions": [0.35988616943359375, 0.2791101932525635, 0.4093635380268097, -2.4010958671569824, -1.0203627347946167, 1.058427095413208, -1.8902405500411987], "pregrasp_goal_pose": [0.3877417517024263, 0.13304471883585411, 1.0409325983719226, 0.1553008474920933, 0.7455646530258074, 0.633636062078232, 0.1360894402984156], "pregrasp_position_error": 0.2808980147536163, "pregrasp_orientation_error_deg": 30.936633053331125}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.5090891062112809, "strict_length": 0.0, "assisted_length": 1.1066899158500296, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.1211850643157959, "door_quality": 0.736213173015354, "step_quality_mean": 0.6231616757362202, "step_quality_min": 0.4604992683988348, "step_quality_max": 0.9288519895022779, "alignment_signed_mean": 0.06794067871547657, "alignment_abs_mean": 0.20704823238000514, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.4077417517024263, 0.13304471883585411, 1.0409325983719226, 0.1553008474920933, 0.7455646530258074, 0.633636062078232, 0.1360894402984156], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877417517024263, 0.13304471883585411, 1.0409325983719226, 0.1553008474920933, 0.7455646530258074, 0.633636062078232, 0.1360894402984156], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192996574413023, "base_score": 0.517013511292445, "final_score": 0.517013511292445, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12481045722961426, "door_quality": 0.7508222159723341, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6440317371033345, "step_quality_min": 0.507624573869658, "step_quality_max": 0.9352082387956792, "alignment_signed_mean": 0.08234979825489072, "alignment_abs_mean": 0.15195886725570018, "alignment_min": -0.3671878389792699, "alignment_max": 0.1655774678409549, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.117844281196016, "base_score": 0.5140064753995729, "final_score": 0.5140064753995729, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12949752807617188, "door_quality": 0.7460932734543476, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6372761049347824, "step_quality_min": 0.47810117265902774, "step_quality_max": 0.9359049672226292, "alignment_signed_mean": 0.06517615485123358, "alignment_abs_mean": 0.17982068435710744, "alignment_min": -0.6182218113910475, "alignment_max": 0.17110220687226577, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.515509993346009, "score_before_reliability": 0.515509993346009, "median_path_length": 1.1185719693186593, "door_quality": 0.7484577447133409, "door_open_delta": 0.12715399265289307, "step_quality_mean": 0.6406539210190585, "alignment_abs_mean": 0.1658897758064038, "alignment_signed_mean": 0.07376297655306216, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.515509993346009, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677417517024263, 0.13304471883585411, 1.0409325983719226, 0.1553008474920933, 0.7455646530258074, 0.633636062078232, 0.1360894402984156], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344931445441113, "base_score": 0.396662319812936, "final_score": 0.698331159906468, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.005269311330387016, "door_open_delta": 0.15239858627319336, "door_quality": 0.5789694544242122, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.39852779203458893, "step_quality_min": 0.08583052226782828, "step_quality_max": 0.9066109468904145, "alignment_signed_mean": -0.4565938576362776, "alignment_abs_mean": 0.5479237567537623, "alignment_min": -0.956602544920761, "alignment_max": 0.31834212496608616, "door_contact_steps": 7, "path_steps": 28}, {"path_found": true, "path_length": 1.134453445713702, "base_score": 0.5277531617631912, "final_score": 0.7638765808815956, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.010239339892121545, "door_open_delta": 0.1416778564453125, "door_quality": 0.7702998281825393, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6718568974036276, "step_quality_min": 0.5025612930610253, "step_quality_max": 0.9524762902074566, "alignment_signed_mean": 0.07517262115872402, "alignment_abs_mean": 0.1379831919267458, "alignment_min": -0.5488626493974771, "alignment_max": 0.18301361913259473, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4622077407880636, "score_before_reliability": 0.7311038703940318, "median_path_length": 1.1344732951289067, "door_quality": 0.6746346413033757, "door_open_delta": 0.14703822135925293, "step_quality_mean": 0.5351923447191083, "alignment_abs_mean": 0.342953474340254, "alignment_signed_mean": -0.19071061823877677, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7311038703940318, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077417517024263, 0.13304471883585411, 1.0409325983719226, 0.1553008474920933, 0.7455646530258074, 0.633636062078232, 0.1360894402984156], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066743158534624, "base_score": 0.5078297829337249, "final_score": 0.7539148914668625, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.01544023801325766, "door_open_delta": 0.12114953994750977, "door_quality": 0.734388189309243, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6205545561560615, "step_quality_min": 0.4752320019018181, "step_quality_max": 0.9265047854695639, "alignment_signed_mean": 0.07282018363113986, "alignment_abs_mean": 0.20475247062705806, "alignment_min": -0.6030753679684946, "alignment_max": 0.1776617236402277, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1067055158465968, "base_score": 0.5103484294888369, "final_score": 0.7551742147444185, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.015296307430242738, "door_open_delta": 0.12122058868408203, "door_quality": 0.7380381567214651, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6257687953163787, "step_quality_min": 0.4604992683988348, "step_quality_max": 0.9288519895022779, "alignment_signed_mean": 0.06306117379981327, "alignment_abs_mean": 0.20934399413295218, "alignment_min": -0.6114406731559888, "alignment_max": 0.18071273568875523, "door_contact_steps": 18, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5090891062112809, "score_before_reliability": 0.7545445531056405, "median_path_length": 1.1066899158500296, "door_quality": 0.736213173015354, "door_open_delta": 0.1211850643157959, "step_quality_mean": 0.6231616757362202, "alignment_abs_mean": 0.20704823238000514, "alignment_signed_mean": 0.06794067871547657, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7545445531056405, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 172, "state": {"door_angle": 0.7260643243789673, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3109395503997803, -0.0949481874704361, 1.1860270500183105, 0.165634885430336, 0.8910892605781555, 0.41572195291519165, 0.07550054043531418], "right_arm_pose": [0.43356120586395264, -0.3257583975791931, 1.0241936445236206, -0.2662239968776703, 0.6276795268058777, 0.6924697756767273, 0.23585736751556396], "left_arm_joint_positions": [-0.27013301849365234, 0.024827510118484497, -0.30936190485954285, -1.945202350616455, 0.8783470392227173, 1.6850357055664062, 0.4531198740005493], "right_arm_joint_positions": [0.36365485191345215, 0.2621617317199707, 0.42571166157722473, -2.400843620300293, -1.0191107988357544, 1.0775842666625977, -1.9297231435775757], "pregrasp_goal_pose": [0.3877405308471764, 0.13304459541772995, 1.0409298050623337, 0.15529720268341143, 0.7455603132537976, 0.6336411350464911, 0.13609375487729314], "pregrasp_position_error": 0.2809489457901319, "pregrasp_orientation_error_deg": 30.93706588740169}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.5085298078392734, "strict_length": 0.0, "assisted_length": 1.1067758839953843, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.12352550029754639, "door_quality": 0.7354254136344919, "step_quality_mean": 0.6220363051921313, "step_quality_min": 0.48435849500280753, "step_quality_max": 0.9269368812937762, "alignment_signed_mean": 0.07424636161938458, "alignment_abs_mean": 0.20391628832332204, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.40774053084717643, 0.13304459541772995, 1.0409298050623337, 0.15529720268341143, 0.7455603132537976, 0.6336411350464911, 0.13609375487729314], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877405308471764, 0.13304459541772995, 1.0409298050623337, 0.15529720268341143, 0.7455603132537976, 0.6336411350464911, 0.13609375487729314], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119418384074882, "base_score": 0.5159667632034055, "final_score": 0.5159667632034055, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13080763816833496, "door_quality": 0.7493317522591396, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6419025032273424, "step_quality_min": 0.4738334133169111, "step_quality_max": 0.9371907759129623, "alignment_signed_mean": 0.060338324925180306, "alignment_abs_mean": 0.1781597283807594, "alignment_min": -0.6159868718897498, "alignment_max": 0.16437093903195607, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1179182110346133, "base_score": 0.518808821894567, "final_score": 0.7594044109472835, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.007322744822492038, "door_open_delta": 0.13156533241271973, "door_quality": 0.753082557872377, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6472607969605387, "step_quality_min": 0.5040825568944383, "step_quality_max": 0.9328417583666303, "alignment_signed_mean": 0.0848722175667848, "alignment_abs_mean": 0.16190148629456153, "alignment_min": -0.5156681600942831, "alignment_max": 0.16284878331015387, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5173877925489863, "score_before_reliability": 0.6376855870753445, "median_path_length": 1.1186682975547475, "door_quality": 0.7512071550657583, "door_open_delta": 0.13118648529052734, "step_quality_mean": 0.6445816500939405, "alignment_abs_mean": 0.17003060733766046, "alignment_signed_mean": 0.07260527124598255, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6376855870753445, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677405308471764, 0.13304459541772995, 1.0409298050623337, 0.15529720268341143, 0.7455603132537976, 0.6336411350464911, 0.13609375487729314], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1346485937532813, "base_score": 0.5249889753225906, "final_score": 0.5249889753225906, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13287091255187988, "door_quality": 0.7663151138279993, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6661644483257133, "step_quality_min": 0.5195130189380747, "step_quality_max": 0.9424249376889962, "alignment_signed_mean": 0.11387027866747364, "alignment_abs_mean": 0.11387027866747364, "alignment_min": 0.022882619077777548, "alignment_max": 0.17117523253450503, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.134629715584458, "base_score": 0.401914455098455, "final_score": 0.7009572275492275, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.003870881214580656, "door_open_delta": 0.19579315185546875, "door_quality": 0.5866621924952926, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4095174178504182, "step_quality_min": 0.07666409472796132, "step_quality_max": 0.8075809427215507, "alignment_signed_mean": -0.5015844344575974, "alignment_abs_mean": 0.5897524120112224, "alignment_min": -0.9612372554746262, "alignment_max": 0.4279288207098426, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4634517152105228, "score_before_reliability": 0.612973101435909, "median_path_length": 1.1346391546688697, "door_quality": 0.676488653161646, "door_open_delta": 0.16433203220367432, "step_quality_mean": 0.5378409330880658, "alignment_abs_mean": 0.35181134533934805, "alignment_signed_mean": -0.19385707789506187, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.612973101435909, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774053084717643, 0.13304459541772995, 1.0409298050623337, 0.15529720268341143, 0.7455603132537976, 0.6336411350464911, 0.13609375487729314], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1067845542961188, "base_score": 0.508220805164952, "final_score": 0.7541104025824761, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.017016237882903646, "door_open_delta": 0.1234133243560791, "door_quality": 0.7349806657353588, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6214009510505125, "step_quality_min": 0.48435849500280753, "step_quality_max": 0.9234175897338252, "alignment_signed_mean": 0.0734221553602639, "alignment_abs_mean": 0.20414128680519417, "alignment_min": -0.5967032486505951, "alignment_max": 0.17907692516792062, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.10676721369465, "base_score": 0.5088388105135947, "final_score": 0.7544194052567974, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.016946182012026467, "door_open_delta": 0.12363767623901367, "door_quality": 0.735870161533625, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.62267165933375, "step_quality_min": 0.49403378080608906, "step_quality_max": 0.9269368812937762, "alignment_signed_mean": 0.07507056787850527, "alignment_abs_mean": 0.20369128984144994, "alignment_min": -0.5824703563732263, "alignment_max": 0.1819783100521095, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5085298078392734, "score_before_reliability": 0.7542649039196367, "median_path_length": 1.1067758839953843, "door_quality": 0.7354254136344919, "door_open_delta": 0.12352550029754639, "step_quality_mean": 0.6220363051921313, "alignment_abs_mean": 0.20391628832332204, "alignment_signed_mean": 0.07424636161938458, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7542649039196367, "source": "assisted"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 173, "state": {"door_angle": 0.7269536256790161, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31089797616004944, -0.0949338972568512, 1.18608820438385, 0.1656161993741989, 0.8910822868347168, 0.4157413840293884, 0.07551693916320801], "right_arm_pose": [0.4331309199333191, -0.33501219749450684, 1.0262212753295898, -0.2860695421695709, 0.6295838356018066, 0.6838055849075317, 0.23280559480190277], "left_arm_joint_positions": [-0.2701289653778076, 0.024822980165481567, -0.30936095118522644, -1.9452221393585205, 0.878339409828186, 1.6849946975708008, 0.45310747623443604], "right_arm_joint_positions": [0.3674299716949463, 0.24538302421569824, 0.4420323669910431, -2.400534152984619, -1.0178531408309937, 1.0967578887939453, -1.9692281484603882], "pregrasp_goal_pose": [0.38774140095786813, 0.1330444793819926, 1.0409317396232187, 0.15530112307258018, 0.7455617472596145, 0.6336394786014651, 0.13608913752849283], "pregrasp_position_error": 0.2809794501584501, "pregrasp_orientation_error_deg": 30.933918281357254}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7638888888888888, "tray_projected_count": 288, "tray_visible_count": 220}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.517866070868525, "strict_length": 0.0, "assisted_length": 1.1186749974978585, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.12879955768585205, "door_quality": 0.7519035401230723, "step_quality_mean": 0.6455764858901032, "step_quality_min": 0.48814438638758345, "step_quality_max": 0.9373116396162087, "alignment_signed_mean": 0.08899178232523969, "alignment_abs_mean": 0.15448142458726943, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.38774140095786813, 0.1330444793819926, 1.0409317396232187, 0.15530112307258018, 0.7455617472596145, 0.6336394786014651, 0.13608913752849283], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774140095786813, 0.1330444793819926, 1.0409317396232187, 0.15530112307258018, 0.7455617472596145, 0.6336394786014651, 0.13608913752849283], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1194348830226983, "base_score": 0.5172288257972081, "final_score": 0.7586144128986041, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.012333771917146298, "door_open_delta": 0.13237881660461426, "door_quality": 0.7511687603385375, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.644526800483625, "step_quality_min": 0.48814438638758345, "step_quality_max": 0.9367595965410302, "alignment_signed_mean": 0.0591553872387808, "alignment_abs_mean": 0.1753888706670468, "alignment_min": -0.6151304248795498, "alignment_max": 0.1748925043664644, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1179151119730186, "base_score": 0.518503315939842, "final_score": 0.518503315939842, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12522029876708984, "door_quality": 0.752638319907607, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6466261712965815, "step_quality_min": 0.5045305089854621, "step_quality_max": 0.9373116396162087, "alignment_signed_mean": 0.11882817741169859, "alignment_abs_mean": 0.13357397850749206, "alignment_min": -0.08515700132820707, "alignment_max": 0.16919658843122587, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.517866070868525, "score_before_reliability": 0.638558864419223, "median_path_length": 1.1186749974978585, "door_quality": 0.7519035401230723, "door_open_delta": 0.12879955768585205, "step_quality_mean": 0.6455764858901032, "alignment_abs_mean": 0.15448142458726943, "alignment_signed_mean": 0.08899178232523969, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.638558864419223, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677414009578681, 0.1330444793819926, 1.0409317396232187, 0.15530112307258018, 0.7455617472596145, 0.6336394786014651, 0.13608913752849283], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1346931157174698, "base_score": 0.4045008525282941, "final_score": 0.702250426264147, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.003929724855247989, "door_open_delta": 0.20175385475158691, "door_quality": 0.5904499554987571, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.41492850785536733, "step_quality_min": 0.06256038671365172, "step_quality_max": 0.8657930111163963, "alignment_signed_mean": -0.5511879402124654, "alignment_abs_mean": 0.6375056699261827, "alignment_min": -0.9683683437964681, "alignment_max": 0.3812351694320384, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1346815911264276, "base_score": 0.4652609871763653, "final_score": 0.4652609871763653, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13734698295593262, "door_quality": 0.6791389242790613, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5416270346843732, "step_quality_min": 0.08480390659521075, "step_quality_max": 0.9782215841488661, "alignment_signed_mean": -0.35406299971281413, "alignment_abs_mean": 0.40609014439117314, "alignment_min": -0.9571216202608485, "alignment_max": 0.21027081388608906, "door_contact_steps": 8, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4348809198523297, "score_before_reliability": 0.5837557067202561, "median_path_length": 1.1346873534219486, "door_quality": 0.6347944398889092, "door_open_delta": 0.16955041885375977, "step_quality_mean": 0.47827777126987026, "alignment_abs_mean": 0.5217979071586779, "alignment_signed_mean": -0.45262546996263975, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.5837557067202561, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774140095786815, 0.1330444793819926, 1.0409317396232187, 0.15530112307258018, 0.7455617472596145, 0.6336394786014651, 0.13608913752849283], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066860959275169, "base_score": 0.5042625818314659, "final_score": 0.5042625818314659, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11238551139831543, "door_quality": 0.7292324140995672, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6131891629993816, "step_quality_min": 0.4931954104213682, "step_quality_max": 0.9244674276710857, "alignment_signed_mean": 0.15580558880007322, "alignment_abs_mean": 0.15580558880007322, "alignment_min": 0.0790338523678242, "alignment_max": 0.1799201978765367, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1068832655737413, "base_score": 0.5135467719188402, "final_score": 0.7567733859594201, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.026423660589485125, "door_open_delta": 0.13588404655456543, "door_quality": 0.7427074297292267, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6324391853274668, "step_quality_min": 0.4939253687162074, "step_quality_max": 0.9246130128542663, "alignment_signed_mean": 0.0834982749796242, "alignment_abs_mean": 0.19320354172066917, "alignment_min": -0.582763133437497, "alignment_max": 0.1767910521396543, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5089046768751531, "score_before_reliability": 0.630517983895443, "median_path_length": 1.106784680750629, "door_quality": 0.7359699219143969, "door_open_delta": 0.12413477897644043, "step_quality_mean": 0.6228141741634242, "alignment_abs_mean": 0.1745045652603712, "alignment_signed_mean": 0.11965193188984871, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.630517983895443, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 174, "state": {"door_angle": 0.725631833076477, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.31093165278434753, -0.09490333497524261, 1.186158299446106, 0.16558028757572174, 0.8910907506942749, 0.41572311520576477, 0.07559618353843689], "right_arm_pose": [0.4329196810722351, -0.3444286584854126, 1.0284312963485718, -0.3061061203479767, 0.6305381655693054, 0.675362229347229, 0.22936108708381653], "left_arm_joint_positions": [-0.2701294422149658, 0.024769335985183716, -0.30936524271965027, -1.9449074268341064, 0.8783794641494751, 1.6850237846374512, 0.45315492153167725], "right_arm_joint_positions": [0.3712165355682373, 0.22855377197265625, 0.45835402607917786, -2.400266170501709, -1.016574740409851, 1.1159825325012207, -2.008681535720825], "pregrasp_goal_pose": [0.38774143684560536, 0.1330446322927018, 1.0409301580976151, 0.15529592483407137, 0.7455634523181027, 0.633637437063006, 0.13609523375073723], "pregrasp_position_error": 0.280982618232271, "pregrasp_orientation_error_deg": 30.933821872171354}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7638888888888888, "tray_projected_count": 288, "tray_visible_count": 220}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.4003661721456999, "strict_length": 0.0, "assisted_length": 1.1346135126408132, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.15998148918151855, "door_quality": 0.5843990776350303, "step_quality_mean": 0.40628439662147187, "step_quality_min": 0.09159356925300521, "step_quality_max": 0.9530825264637443, "alignment_signed_mean": -0.4744183008310513, "alignment_abs_mean": 0.5706278729588915, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.36774143684560534, 0.1330446322927018, 1.0409301580976151, 0.15529592483407137, 0.7455634523181027, 0.633637437063006, 0.13609523375073723], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774143684560536, 0.1330446322927018, 1.0409301580976151, 0.15529592483407137, 0.7455634523181027, 0.633637437063006, 0.13609523375073723], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1194326542361472, "base_score": 0.5178973419129851, "final_score": 0.5178973419129851, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.124755859375, "door_quality": 0.7521390840650573, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6459129772357961, "step_quality_min": 0.5079340946065911, "step_quality_max": 0.9363301836844203, "alignment_signed_mean": 0.10349589082957725, "alignment_abs_mean": 0.143306771058661, "alignment_min": -0.24085582538595685, "alignment_max": 0.16909937064595043, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1179495507146655, "base_score": 0.5156610562794487, "final_score": 0.5156610562794487, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12413382530212402, "door_quality": 0.7485212040721998, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6407445772459998, "step_quality_min": 0.5050399389507745, "step_quality_max": 0.9362853661486238, "alignment_signed_mean": 0.11030010755644808, "alignment_abs_mean": 0.14288696312374208, "alignment_min": -0.19470646201458144, "alignment_max": 0.16957581166157215, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.516779199096217, "score_before_reliability": 0.516779199096217, "median_path_length": 1.1186911024754065, "door_quality": 0.7503301440686285, "door_open_delta": 0.12444484233856201, "step_quality_mean": 0.643328777240898, "alignment_abs_mean": 0.14309686709120154, "alignment_signed_mean": 0.10689799919301265, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.516779199096217, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774143684560534, 0.1330446322927018, 1.0409301580976151, 0.15529592483407137, 0.7455634523181027, 0.633637437063006, 0.13609523375073723], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134661107957679, "base_score": 0.40133783061658757, "final_score": 0.7006689153082938, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.003966901563405194, "door_open_delta": 0.15699291229248047, "door_quality": 0.5858266415706004, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4083237736722863, "step_quality_min": 0.09159356925300521, "step_quality_max": 0.9530825264637443, "alignment_signed_mean": -0.4501288603843778, "alignment_abs_mean": 0.5444967877109358, "alignment_min": -0.9536886447597164, "alignment_max": 0.26908238361286724, "door_contact_steps": 7, "path_steps": 28}, {"path_found": true, "path_length": 1.1345659173239475, "base_score": 0.3993945136748122, "final_score": 0.6996972568374061, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.005273164902344982, "door_open_delta": 0.16297006607055664, "door_quality": 0.5829715136994602, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.40424501957065745, "step_quality_min": 0.10185938588030385, "step_quality_max": 0.9301139268260146, "alignment_signed_mean": -0.4987077412777247, "alignment_abs_mean": 0.5967589582068472, "alignment_min": -0.9484980633189476, "alignment_max": 0.4558898867662075, "door_contact_steps": 8, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4003661721456999, "score_before_reliability": 0.70018308607285, "median_path_length": 1.1346135126408132, "door_quality": 0.5843990776350303, "door_open_delta": 0.15998148918151855, "step_quality_mean": 0.40628439662147187, "alignment_abs_mean": 0.5706278729588915, "alignment_signed_mean": -0.4744183008310513, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.70018308607285, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077414368456054, 0.1330446322927018, 1.0409301580976151, 0.15529592483407137, 0.7455634523181027, 0.633637437063006, 0.13609523375073723], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1067264292074694, "base_score": 0.5074382017515316, "final_score": 0.5074382017515316, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11934661865234375, "door_quality": 0.7338346591965534, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6197637988522192, "step_quality_min": 0.47876345956450406, "step_quality_max": 0.9233670859549469, "alignment_signed_mean": 0.07099460631263096, "alignment_abs_mean": 0.19984364060396628, "alignment_min": -0.6047543696935641, "alignment_max": 0.18223507837709818, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1068110941618443, "base_score": 0.5057968536030336, "final_score": 0.5057968536030336, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11130785942077637, "door_quality": 0.7314816575083426, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6164023678690609, "step_quality_min": 0.49288041782929937, "step_quality_max": 0.9305970184311061, "alignment_signed_mean": 0.15312501531964742, "alignment_abs_mean": 0.15312501531964742, "alignment_min": 0.02170553710971419, "alignment_max": 0.17853263695116747, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5066175276772826, "score_before_reliability": 0.5066175276772826, "median_path_length": 1.1067687616846569, "door_quality": 0.7326581583524481, "door_open_delta": 0.11532723903656006, "step_quality_mean": 0.6180830833606401, "alignment_abs_mean": 0.17648432796180685, "alignment_signed_mean": 0.1120598108161392, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5066175276772826, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 175, "state": {"door_angle": 0.7275112867355347, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109196722507477, -0.09491375833749771, 1.186017632484436, 0.16564489901065826, 0.8910783529281616, 0.4157439172267914, 0.07548657059669495], "right_arm_pose": [0.4329339861869812, -0.3539186716079712, 1.0308260917663574, -0.32622987031936646, 0.630488395690918, 0.6671814322471619, 0.22567111253738403], "left_arm_joint_positions": [-0.27013468742370605, 0.024741679430007935, -0.309369295835495, -1.9452126026153564, 0.8783363103866577, 1.6849584579467773, 0.4531441926956177], "right_arm_joint_positions": [0.37501025199890137, 0.21175193786621094, 0.4746101200580597, -2.399909019470215, -1.0152243375778198, 1.1351003646850586, -2.048184394836426], "pregrasp_goal_pose": [0.3877411264327173, 0.1330444909032199, 1.0409311278783482, 0.15530010599737804, 0.7455609461036659, 0.6336404126002955, 0.1360903385326712], "pregrasp_position_error": 0.28092097294139134, "pregrasp_orientation_error_deg": 30.934526320133813}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7673611111111112, "tray_projected_count": 288, "tray_visible_count": 221}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.40334257226235226, "strict_length": 0.0, "assisted_length": 1.1345455078074722, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.1521751880645752, "door_quality": 0.5887302890777892, "step_quality_mean": 0.4124718415396989, "step_quality_min": 0.04869394326935872, "step_quality_max": 0.9154606600547054, "alignment_signed_mean": -0.486863750894751, "alignment_abs_mean": 0.5727012017144534, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3677411264327173, 0.1330444909032199, 1.0409311278783482, 0.15530010599737804, 0.7455609461036659, 0.6336404126002955, 0.1360903385326712], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877411264327173, 0.1330444909032199, 1.0409311278783482, 0.15530010599737804, 0.7455609461036659, 0.6336404126002955, 0.1360903385326712], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193223573510815, "base_score": 0.5192929656708211, "final_score": 0.5192929656708211, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12616252899169922, "door_quality": 0.7541382128813079, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6487688755447256, "step_quality_min": 0.5077430652394195, "step_quality_max": 0.9316916788617886, "alignment_signed_mean": 0.09992877784259155, "alignment_abs_mean": 0.13839551618347992, "alignment_min": -0.2029120447481862, "alignment_max": 0.16689888368443248, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178683382082768, "base_score": 0.5380712895239083, "final_score": 0.5380712895239083, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13132333755493164, "door_quality": 0.7810302169709021, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.687186024244146, "step_quality_min": 0.4196285427473311, "step_quality_max": 0.9718082586156837, "alignment_signed_mean": 0.013160432110229457, "alignment_abs_mean": 0.17507236966234166, "alignment_min": -0.5355636089419729, "alignment_max": 0.3006190954211149, "door_contact_steps": 14, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5286821275973647, "score_before_reliability": 0.5286821275973647, "median_path_length": 1.1185953477796793, "door_quality": 0.767584214926105, "door_open_delta": 0.12874293327331543, "step_quality_mean": 0.6679774498944357, "alignment_abs_mean": 0.1567339429229108, "alignment_signed_mean": 0.056544604976410506, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5286821275973647, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677411264327173, 0.1330444909032199, 1.0409311278783482, 0.15530010599737804, 0.7455609461036659, 0.6336404126002955, 0.1360903385326712], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345510379908557, "base_score": 0.41941666812183037, "final_score": 0.41941666812183037, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13491177558898926, "door_quality": 0.6121935800617356, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.44599082865962236, "step_quality_min": 0.08886593647810903, "step_quality_max": 0.6735031963080161, "alignment_signed_mean": -0.41859979454166457, "alignment_abs_mean": 0.5036863764524905, "alignment_min": -0.9550677849267989, "alignment_max": 0.23127618003838585, "door_contact_steps": 8, "path_steps": 28}, {"path_found": true, "path_length": 1.1345399776240888, "base_score": 0.3872684764028741, "final_score": 0.6936342382014371, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.003945865173874685, "door_open_delta": 0.16943860054016113, "door_quality": 0.5652669980938427, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.37895285441977544, "step_quality_min": 0.04869394326935872, "step_quality_max": 0.9154606600547054, "alignment_signed_mean": -0.5551277072478373, "alignment_abs_mean": 0.6417160269764163, "alignment_min": -0.9753794668862794, "alignment_max": 0.4063809866554335, "door_contact_steps": 8, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.40334257226235226, "score_before_reliability": 0.5565254531616337, "median_path_length": 1.1345455078074722, "door_quality": 0.5887302890777892, "door_open_delta": 0.1521751880645752, "step_quality_mean": 0.4124718415396989, "alignment_abs_mean": 0.5727012017144534, "alignment_signed_mean": -0.486863750894751, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.5565254531616337, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077411264327173, 0.1330444909032199, 1.0409311278783482, 0.15530010599737804, 0.7455609461036659, 0.6336404126002955, 0.1360903385326712], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066977736772277, "base_score": 0.5076968725644828, "final_score": 0.5076968725644828, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11328458786010742, "door_quality": 0.7342017244595052, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.620288177799293, "step_quality_min": 0.4929353851232196, "step_quality_max": 0.9296838552082244, "alignment_signed_mean": 0.15285045955818943, "alignment_abs_mean": 0.15285045955818943, "alignment_min": 0.033300241363444276, "alignment_max": 0.17844102479463392, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1066514381500765, "base_score": 0.5086547356034611, "final_score": 0.5086547356034611, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11525416374206543, "door_quality": 0.7355755691615515, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6222508130879308, "step_quality_min": 0.49232491218094093, "step_quality_max": 0.9287436762095382, "alignment_signed_mean": 0.13881832817277218, "alignment_abs_mean": 0.1490936142262761, "alignment_min": -0.05882601265631011, "alignment_max": 0.1831367632960478, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5081758040839719, "score_before_reliability": 0.5081758040839719, "median_path_length": 1.106674605913652, "door_quality": 0.7348886468105283, "door_open_delta": 0.11426937580108643, "step_quality_mean": 0.621269495443612, "alignment_abs_mean": 0.15097203689223276, "alignment_signed_mean": 0.1458343938654808, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5081758040839719, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474817752838135, "final_height": 1.0474817752838135, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474817752838135}], "score": 0.0007335344950358067}}
+{"frame_index": 176, "state": {"door_angle": 0.7258347272872925, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.310916543006897, -0.09490581601858139, 1.1859874725341797, 0.16566333174705505, 0.8910790085792542, 0.4157423675060272, 0.07544655352830887], "right_arm_pose": [0.43317192792892456, -0.3635513186454773, 1.0333635807037354, -0.3465011417865753, 0.6294586062431335, 0.6592409610748291, 0.22163090109825134], "left_arm_joint_positions": [-0.27013134956359863, 0.02491787075996399, -0.3093964755535126, -1.9452240467071533, 0.878348708152771, 1.684995174407959, 0.45316851139068604], "right_arm_joint_positions": [0.3787710666656494, 0.19485163688659668, 0.49093034863471985, -2.3995285034179688, -1.0138856172561646, 1.1542742252349854, -2.087665557861328], "pregrasp_goal_pose": [0.3877408883704444, 0.13304424527974498, 1.0409319432234894, 0.15529939447783114, 0.7455641754288077, 0.6336366126922607, 0.13609115124745993], "pregrasp_position_error": 0.28089912258683347, "pregrasp_orientation_error_deg": 30.935303886190226}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.38273095002170376, "strict_length": 0.0, "assisted_length": 1.1345453941734727, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.14660894870758057, "door_quality": 0.5586449156611694, "step_quality_mean": 0.36949273665881344, "step_quality_min": 0.07836693008810747, "step_quality_max": 0.8175689263449156, "alignment_signed_mean": -0.5062236988355187, "alignment_abs_mean": 0.6082842484340181, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3677408883704444, 0.13304424527974498, 1.0409319432234894, 0.15529939447783114, 0.7455641754288077, 0.6336366126922607, 0.13609115124745993], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877408883704444, 0.13304424527974498, 1.0409319432234894, 0.15529939447783114, 0.7455641754288077, 0.6336366126922607, 0.13609115124745993], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192988900845233, "base_score": 0.5169089815105793, "final_score": 0.5169089815105793, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12274622917175293, "door_quality": 0.750670222740357, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6438146039147957, "step_quality_min": 0.5074292339021872, "step_quality_max": 0.9360456791366913, "alignment_signed_mean": 0.13260731579077167, "alignment_abs_mean": 0.13260731579077167, "alignment_min": 0.0716970645875899, "alignment_max": 0.15989687583132647, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178486848792555, "base_score": 0.5170127472711405, "final_score": 0.7585063736355703, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.011600885755022335, "door_open_delta": 0.13147234916687012, "door_quality": 0.7504580539669321, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6435115056670458, "step_quality_min": 0.5018545203306367, "step_quality_max": 0.9317071069122927, "alignment_signed_mean": 0.06742117324406137, "alignment_abs_mean": 0.17389253955861464, "alignment_min": -0.5838669370766923, "alignment_max": 0.16467642709527455, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5169608643908599, "score_before_reliability": 0.6377076775730748, "median_path_length": 1.1185737874818895, "door_quality": 0.7505641383536445, "door_open_delta": 0.12710928916931152, "step_quality_mean": 0.6436630547909208, "alignment_abs_mean": 0.15324992767469314, "alignment_signed_mean": 0.10001424451741653, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6377076775730748, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677408883704444, 0.13304424527974498, 1.0409319432234894, 0.15529939447783114, 0.7455641754288077, 0.6336366126922607, 0.13609115124745993], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345385825262402, "base_score": 0.3831000632837226, "final_score": 0.6915500316418612, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.0038618500064328512, "door_open_delta": 0.14613938331604004, "door_quality": 0.5591824153848857, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.37026059340697953, "step_quality_min": 0.07836693008810747, "step_quality_max": 0.8159815879292648, "alignment_signed_mean": -0.5009075320907554, "alignment_abs_mean": 0.605265655173308, "alignment_min": -0.9603762713037659, "alignment_max": 0.37557794974942466, "door_contact_steps": 7, "path_steps": 28}, {"path_found": true, "path_length": 1.134552205820705, "base_score": 0.382361836759685, "final_score": 0.6911809183798425, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.005242930677927086, "door_open_delta": 0.1470785140991211, "door_quality": 0.558107415937453, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.3687248799106473, "step_quality_min": 0.08078525792817437, "step_quality_max": 0.8175689263449156, "alignment_signed_mean": -0.511539865580282, "alignment_abs_mean": 0.611302841694728, "alignment_min": -0.9591535212722715, "alignment_max": 0.3704176461025682, "door_contact_steps": 7, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.38273095002170376, "score_before_reliability": 0.6913654750108519, "median_path_length": 1.1345453941734727, "door_quality": 0.5586449156611694, "door_open_delta": 0.14660894870758057, "step_quality_mean": 0.36949273665881344, "alignment_abs_mean": 0.6082842484340181, "alignment_signed_mean": -0.5062236988355187, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6913654750108519, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077408883704444, 0.13304424527974498, 1.0409319432234894, 0.15529939447783114, 0.7455641754288077, 0.6336366126922607, 0.13609115124745993], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1067784690039861, "base_score": 0.5042855824862273, "final_score": 0.5042855824862273, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1124424934387207, "door_quality": 0.7292881313646068, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6132687590922955, "step_quality_min": 0.4928850940073799, "step_quality_max": 0.9343605004476234, "alignment_signed_mean": 0.158401158881199, "alignment_abs_mean": 0.158401158881199, "alignment_min": 0.028695133136966006, "alignment_max": 0.17912616638079945, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.106693722162777, "base_score": 0.5074143035533055, "final_score": 0.5074143035533055, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11345767974853516, "door_quality": 0.7337920985798376, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6197029979711967, "step_quality_min": 0.4945430796252121, "step_quality_max": 0.9300923474541893, "alignment_signed_mean": 0.15429188021342244, "alignment_abs_mean": 0.15429188021342244, "alignment_min": 0.0964227242756064, "alignment_max": 0.1805237971682969, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5058499430197665, "score_before_reliability": 0.5058499430197665, "median_path_length": 1.1067360955833816, "door_quality": 0.7315401149722223, "door_open_delta": 0.11295008659362793, "step_quality_mean": 0.6164858785317461, "alignment_abs_mean": 0.15634651954731071, "alignment_signed_mean": 0.15634651954731071, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5058499430197665, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 177, "state": {"door_angle": 0.7274953126907349, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3109341859817505, -0.09491428732872009, 1.1859655380249023, 0.16564926505088806, 0.8910859823226929, 0.41573384404182434, 0.07544245570898056], "right_arm_pose": [0.4336870014667511, -0.3733298182487488, 1.0360918045043945, -0.36683276295661926, 0.627411961555481, 0.651606023311615, 0.2172498255968094], "left_arm_joint_positions": [-0.2701098918914795, 0.024981051683425903, -0.30936452746391296, -1.9452836513519287, 0.8783305883407593, 1.6850125789642334, 0.4531325101852417], "right_arm_joint_positions": [0.3826019763946533, 0.17800331115722656, 0.5072426795959473, -2.3992090225219727, -1.0125991106033325, 1.17344331741333, -2.127145767211914], "pregrasp_goal_pose": [0.3877407273451649, 0.13304495000558375, 1.0409297635276, 0.1552999730524129, 0.7455572896901205, 0.6336447081706609, 0.13609052122451282], "pregrasp_position_error": 0.2808914996333632, "pregrasp_orientation_error_deg": 30.93775107116083}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.40844010372031025, "strict_length": 0.0, "assisted_length": 1.1345074578679784, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.20385122299194336, "door_quality": 0.596163210938602, "step_quality_mean": 0.42309030134086, "step_quality_min": 0.0643462633944396, "step_quality_max": 0.9322248850673889, "alignment_signed_mean": -0.527936772856513, "alignment_abs_mean": 0.6174617623290706, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3677407273451649, 0.13304495000558375, 1.0409297635276, 0.1552999730524129, 0.7455572896901205, 0.6336447081706609, 0.13609052122451282], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877407273451649, 0.13304495000558375, 1.0409297635276, 0.1552999730524129, 0.7455572896901205, 0.6336447081706609, 0.13609052122451282], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192916466707472, "base_score": 0.51776416672955, "final_score": 0.51776416672955, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12714457511901855, "door_quality": 0.7519103320632414, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6455861886617736, "step_quality_min": 0.5068546740122479, "step_quality_max": 0.9400605563888079, "alignment_signed_mean": 0.09068099957796737, "alignment_abs_mean": 0.15250689643489818, "alignment_min": -0.3632271440344684, "alignment_max": 0.16329463776790698, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178066604642534, "base_score": 0.43895429704320604, "final_score": 0.43895429704320604, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13068199157714844, "door_quality": 0.6371451667188817, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4816359524555453, "step_quality_min": 0.0776350430997389, "step_quality_max": 0.9596326046828132, "alignment_signed_mean": -0.49183422017209893, "alignment_abs_mean": 0.5159034315084328, "alignment_min": -0.9607463265226039, "alignment_max": 0.06465663110001707, "door_contact_steps": 6, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.47835923188637797, "score_before_reliability": 0.47835923188637797, "median_path_length": 1.1185491535675003, "door_quality": 0.6945277493910615, "door_open_delta": 0.1289132833480835, "step_quality_mean": 0.5636110705586594, "alignment_abs_mean": 0.33420516397166544, "alignment_signed_mean": -0.20057661029706578, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.47835923188637797, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677407273451649, 0.13304495000558375, 1.0409297635276, 0.1552999730524129, 0.7455572896901205, 0.6336447081706609, 0.13609052122451282], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344968241590316, "base_score": 0.4035803039209413, "final_score": 0.7017901519604707, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.003886134238220978, "door_open_delta": 0.20824599266052246, "door_quality": 0.5890676862919442, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4129538375599202, "step_quality_min": 0.0643462633944396, "step_quality_max": 0.9322248850673889, "alignment_signed_mean": -0.532455422941956, "alignment_abs_mean": 0.6193326913357017, "alignment_min": -0.9674653724410136, "alignment_max": 0.324493747480136, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.134518091576925, "base_score": 0.41329990351967916, "final_score": 0.7066499517598396, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.005199454123998158, "door_open_delta": 0.19945645332336426, "door_quality": 0.6032587355852599, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.43322676512179986, "step_quality_min": 0.09508137019791718, "step_quality_max": 0.8684036585981467, "alignment_signed_mean": -0.5234181227710698, "alignment_abs_mean": 0.6155908333224395, "alignment_min": -0.9519251498999296, "alignment_max": 0.41713919413271056, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.40844010372031025, "score_before_reliability": 0.7042200518601551, "median_path_length": 1.1345074578679784, "door_quality": 0.596163210938602, "door_open_delta": 0.20385122299194336, "step_quality_mean": 0.42309030134086, "alignment_abs_mean": 0.6174617623290706, "alignment_signed_mean": -0.527936772856513, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7042200518601551, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077407273451649, 0.13304495000558375, 1.0409297635276, 0.1552999730524129, 0.7455572896901205, 0.6336447081706609, 0.13609052122451282], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1065804606523237, "base_score": 0.5045124934672052, "final_score": 0.5045124934672052, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1162266731262207, "door_quality": 0.7295681305537007, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6136687579338582, "step_quality_min": 0.480892988644857, "step_quality_max": 0.926860646454349, "alignment_signed_mean": 0.12469602546611029, "alignment_abs_mean": 0.1665454849120078, "alignment_min": -0.25005052018923785, "alignment_max": 0.19851168559190485, "door_contact_steps": 20, "path_steps": 28}, {"path_found": true, "path_length": 1.1067403525724617, "base_score": 0.5129292669298833, "final_score": 0.7564646334649416, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.028268659390476132, "door_open_delta": 0.1325068473815918, "door_quality": 0.7417790372047354, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6311129102924792, "step_quality_min": 0.49393697740154463, "step_quality_max": 0.9310877480682539, "alignment_signed_mean": 0.07100160371194682, "alignment_abs_mean": 0.200839853852688, "alignment_min": -0.5913535329232328, "alignment_max": 0.1803575556491453, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5087208801985442, "score_before_reliability": 0.6304885634660734, "median_path_length": 1.1066604066123928, "door_quality": 0.7356735838792181, "door_open_delta": 0.12436676025390625, "step_quality_mean": 0.6223908341131688, "alignment_abs_mean": 0.1836926693823479, "alignment_signed_mean": 0.09784881458902855, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6304885634660734, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 178, "state": {"door_angle": 0.7269681692123413, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.3109183609485626, -0.09489782154560089, 1.1857876777648926, 0.165697380900383, 0.8910706639289856, 0.41577276587486267, 0.07530239969491959], "right_arm_pose": [0.43444475531578064, -0.3831605315208435, 1.038941740989685, -0.3871564567089081, 0.6243521571159363, 0.6442626714706421, 0.21264949440956116], "left_arm_joint_positions": [-0.27015066146850586, 0.025173693895339966, -0.3093683421611786, -1.9453439712524414, 0.8783334493637085, 1.6849393844604492, 0.4530891180038452], "right_arm_joint_positions": [0.38635778427124023, 0.16111445426940918, 0.5235109329223633, -2.3989901542663574, -1.0113180875778198, 1.192570447921753, -2.166614294052124], "pregrasp_goal_pose": [0.3877482665981797, 0.1330359121499216, 1.0409299200305824, 0.15529405494026743, 0.7455639551992079, 0.633636832461917, 0.13609742743913772], "pregrasp_position_error": 0.2807853118208332, "pregrasp_orientation_error_deg": 30.93607143959506}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.5180613778809727, "strict_length": 0.0, "assisted_length": 1.1183142293269657, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.13342177867889404, "door_quality": 0.7520964590070378, "step_quality_mean": 0.6458520842957685, "step_quality_min": 0.45473331139458883, "step_quality_max": 0.937705770666426, "alignment_signed_mean": 0.07293925267064376, "alignment_abs_mean": 0.16851577470982398, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3877482665981797, 0.1330359121499216, 1.0409299200305824, 0.15529405494026743, 0.7455639551992079, 0.633636832461917, 0.13609742743913772], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877482665981797, 0.1330359121499216, 1.0409299200305824, 0.15529405494026743, 0.7455639551992079, 0.633636832461917, 0.13609742743913772], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119055850056623, "base_score": 0.5168458772403282, "final_score": 0.7584229386201641, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.012314865813451797, "door_open_delta": 0.13245844841003418, "door_quality": 0.7505177764711941, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6435968235302775, "step_quality_min": 0.45473331139458883, "step_quality_max": 0.937705770666426, "alignment_signed_mean": 0.06171369714429567, "alignment_abs_mean": 0.175344483974555, "alignment_min": -0.6336703605566115, "alignment_max": 0.17078029447877888, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1175726085973086, "base_score": 0.5192768785216173, "final_score": 0.7596384392608087, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.010468262838074149, "door_open_delta": 0.1343851089477539, "door_quality": 0.7536751415428815, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6481073450612594, "step_quality_min": 0.5069902713529063, "step_quality_max": 0.9342740813240813, "alignment_signed_mean": 0.08416480819699185, "alignment_abs_mean": 0.161687065445093, "alignment_min": -0.5759515409662228, "alignment_max": 0.1712613505608314, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5180613778809727, "score_before_reliability": 0.7590306889404863, "median_path_length": 1.1183142293269657, "door_quality": 0.7520964590070378, "door_open_delta": 0.13342177867889404, "step_quality_mean": 0.6458520842957685, "alignment_abs_mean": 0.16851577470982398, "alignment_signed_mean": 0.07293925267064376, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7590306889404863, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774826659817966, 0.1330359121499216, 1.0409299200305824, 0.15529405494026743, 0.7455639551992079, 0.633636832461917, 0.13609742743913772], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1343532463404042, "base_score": 0.4134505311001024, "final_score": 0.7067252655500512, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.003785516582923388, "door_open_delta": 0.19878768920898438, "door_quality": 0.6034454345804527, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4334934779720753, "step_quality_min": 0.09560078133873928, "step_quality_max": 0.8528873147543885, "alignment_signed_mean": -0.520784520223418, "alignment_abs_mean": 0.6136103459694933, "alignment_min": -0.9516625262894015, "alignment_max": 0.4177079718024483, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1343285932306337, "base_score": 0.4122977777323521, "final_score": 0.706148888866176, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.0038832220991628676, "door_open_delta": 0.20556354522705078, "door_quality": 0.6017580058455059, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.43108286549357977, "step_quality_min": 0.094270447008314, "step_quality_max": 0.9204480457357715, "alignment_signed_mean": -0.5273910831675875, "alignment_abs_mean": 0.6221961734961069, "alignment_min": -0.9523351672429872, "alignment_max": 0.35388945394915877, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4128741544162272, "score_before_reliability": 0.7064370772081137, "median_path_length": 1.134340919785519, "door_quality": 0.6026017202129793, "door_open_delta": 0.20217561721801758, "step_quality_mean": 0.4322881717328275, "alignment_abs_mean": 0.6179032597328, "alignment_signed_mean": -0.5240878016955028, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7064370772081137, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077482665981797, 0.1330359121499216, 1.0409299200305824, 0.15529405494026743, 0.7455639551992079, 0.633636832461917, 0.13609742743913772], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1064151101972857, "base_score": 0.5102661818600618, "final_score": 0.7551330909300309, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.03314644148510039, "door_open_delta": 0.13752102851867676, "door_quality": 0.7378477861593298, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6254968373704711, "step_quality_min": 0.45197508422825544, "step_quality_max": 0.928346252765932, "alignment_signed_mean": 0.0842579118400872, "alignment_abs_mean": 0.20672169882430855, "alignment_min": -0.6052082761759042, "alignment_max": 0.2839491750085717, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.106446969401229, "base_score": 0.5122895690952549, "final_score": 0.7561447845476275, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.02831902574931052, "door_open_delta": 0.1321864128112793, "door_quality": 0.7407814824111583, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6296878320159404, "step_quality_min": 0.49277208385125554, "step_quality_max": 0.9219016675529494, "alignment_signed_mean": 0.06955691626970843, "alignment_abs_mean": 0.2021098370276388, "alignment_min": -0.6004675343871444, "alignment_max": 0.17903629979567204, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5112778754776584, "score_before_reliability": 0.7556389377388292, "median_path_length": 1.1064310397992574, "door_quality": 0.739314634285244, "door_open_delta": 0.13485372066497803, "step_quality_mean": 0.6275923346932057, "alignment_abs_mean": 0.20441576792597366, "alignment_signed_mean": 0.07690741405489782, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7556389377388292, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 179, "state": {"door_angle": 0.7255748510360718, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31088781356811523, -0.09490052610635757, 1.1858636140823364, 0.16567440330982208, 0.8910760283470154, 0.41575804352760315, 0.07537100464105606], "right_arm_pose": [0.43546175956726074, -0.3931178152561188, 1.041988492012024, -0.40744462609291077, 0.6203049421310425, 0.6372160315513611, 0.207765132188797], "left_arm_joint_positions": [-0.2701234817504883, 0.024921923875808716, -0.3093831241130829, -1.9454874992370605, 0.8783446550369263, 1.6849274635314941, 0.4530693292617798], "right_arm_joint_positions": [0.3901350498199463, 0.14421296119689941, 0.539844274520874, -2.3986053466796875, -1.0099986791610718, 1.2116727828979492, -2.206124782562256], "pregrasp_goal_pose": [0.38774842294899603, 0.13303977458839078, 1.0409307942205026, 0.1552965518799867, 0.74556360835328, 0.6336372775870066, 0.13609440593040675], "pregrasp_position_error": 0.28083777564336926, "pregrasp_orientation_error_deg": 30.935864428092696}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 60, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": false, "base_score": 0.5165839068721125, "strict_length": 0.0, "assisted_length": 1.1184155126469066, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.12648308277130127, "door_quality": 0.7499780951531957, "step_quality_mean": 0.6428258502188511, "step_quality_min": 0.46881258314423685, "step_quality_max": 0.9349967908721398, "alignment_signed_mean": 0.08497350264993125, "alignment_abs_mean": 0.16278728161065048, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.38774842294899603, 0.13303977458839078, 1.0409307942205026, 0.1552965518799867, 0.74556360835328, 0.6336372775870066, 0.13609440593040675], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774842294899603, 0.13303977458839078, 1.0409307942205026, 0.1552965518799867, 0.74556360835328, 0.6336372775870066, 0.13609440593040675], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1191350469679007, "base_score": 0.5188924411825738, "final_score": 0.5188924411825738, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13037776947021484, "door_quality": 0.7535095068600957, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.647870724085851, "step_quality_min": 0.46881258314423685, "step_quality_max": 0.9349967908721398, "alignment_signed_mean": 0.03223190231599015, "alignment_abs_mean": 0.1878594602374286, "alignment_min": -0.6186050560422179, "alignment_max": 0.16963442216142474, "door_contact_steps": 18, "path_steps": 28}, {"path_found": true, "path_length": 1.1176959783259126, "base_score": 0.5142753725616513, "final_score": 0.5142753725616513, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1225883960723877, "door_quality": 0.7464466834462957, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.637780976351851, "step_quality_min": 0.5045734137361303, "step_quality_max": 0.9292389194833018, "alignment_signed_mean": 0.13771510298387235, "alignment_abs_mean": 0.13771510298387235, "alignment_min": 0.0737228431590808, "alignment_max": 0.16376620060070438, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5165839068721125, "score_before_reliability": 0.5165839068721125, "median_path_length": 1.1184155126469066, "door_quality": 0.7499780951531957, "door_open_delta": 0.12648308277130127, "step_quality_mean": 0.6428258502188511, "alignment_abs_mean": 0.16278728161065048, "alignment_signed_mean": 0.08497350264993125, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5165839068721125, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.367748422948996, 0.13303977458839078, 1.0409307942205026, 0.1552965518799867, 0.74556360835328, 0.6336372775870066, 0.13609440593040675], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1343641125414319, "base_score": 0.45828546371683965, "final_score": 0.45828546371683965, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13178467750549316, "door_quality": 0.6688860013411906, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5269800019159867, "step_quality_min": 0.1263422932999373, "step_quality_max": 0.8564346864114167, "alignment_signed_mean": -0.21792757454049108, "alignment_abs_mean": 0.3377428324376628, "alignment_min": -0.936119065185425, "alignment_max": 0.30830001406496194, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.134375727478923, "base_score": 0.4597971880506454, "final_score": 0.4597971880506454, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13600587844848633, "door_quality": 0.6710950218300908, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5301357454715584, "step_quality_min": 0.12846380726508178, "step_quality_max": 0.8624557081646577, "alignment_signed_mean": -0.32734872115132685, "alignment_abs_mean": 0.39822453615049236, "alignment_min": -0.935046389585071, "alignment_max": 0.197003383838779, "door_contact_steps": 8, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4590413258837425, "score_before_reliability": 0.4590413258837425, "median_path_length": 1.1343699200101773, "door_quality": 0.6699905115856407, "door_open_delta": 0.13389527797698975, "step_quality_mean": 0.5285578736937726, "alignment_abs_mean": 0.3679836842940776, "alignment_signed_mean": -0.27263814784590895, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.4590413258837425, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774842294899605, 0.13303977458839078, 1.0409307942205026, 0.1552965518799867, 0.74556360835328, 0.6336372775870066, 0.13609440593040675], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1064328894141306, "base_score": 0.5071231635077278, "final_score": 0.5071231635077278, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11812210083007812, "door_quality": 0.7333073097016989, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6190104424309983, "step_quality_min": 0.4941886238065438, "step_quality_max": 0.9241046589747841, "alignment_signed_mean": 0.08057134455684843, "alignment_abs_mean": 0.19248799200161837, "alignment_min": -0.5962704126181692, "alignment_max": 0.1837460020515425, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1066318154892345, "base_score": 0.5032239512581246, "final_score": 0.5032239512581246, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11122322082519531, "door_quality": 0.7277172456900833, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6110246367001191, "step_quality_min": 0.4934103226570578, "step_quality_max": 0.947028928292746, "alignment_signed_mean": 0.15741533648178044, "alignment_abs_mean": 0.15741533648178044, "alignment_min": 0.08828511951208994, "alignment_max": 0.1776295940233118, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5051735573829261, "score_before_reliability": 0.5051735573829261, "median_path_length": 1.1065323524516826, "door_quality": 0.7305122776958911, "door_open_delta": 0.11467266082763672, "step_quality_mean": 0.6150175395655587, "alignment_abs_mean": 0.1749516642416994, "alignment_signed_mean": 0.11899334051931443, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5051735573829261, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 180, "state": {"door_angle": 0.723784327507019, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.31092482805252075, -0.09492586553096771, 1.185989260673523, 0.16564896702766418, 0.8910778164863586, 0.41574615240097046, 0.07547174394130707], "right_arm_pose": [0.43679073452949524, -0.40314781665802, 1.0451514720916748, -0.42768096923828125, 0.6152216792106628, 0.6305086612701416, 0.2026081532239914], "left_arm_joint_positions": [-0.27014636993408203, 0.02501419186592102, -0.3093726336956024, -1.9451305866241455, 0.8783191442489624, 1.6850056648254395, 0.4531005620956421], "right_arm_joint_positions": [0.3939371109008789, 0.12717342376708984, 0.5562467575073242, -2.3983612060546875, -1.0087064504623413, 1.230808973312378, -2.2455787658691406], "pregrasp_goal_pose": [0.3877411142098526, 0.1330452535366658, 1.0409309267833238, 0.15530057025092672, 0.7455616645176278, 0.63363957179673, 0.13608978776784675], "pregrasp_position_error": 0.2809154555715202, "pregrasp_orientation_error_deg": 30.93454759008309}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.5081024171339753, "strict_length": 0.0, "assisted_length": 1.106705900867445, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.11897814273834229, "door_quality": 0.7347901502430454, "step_quality_mean": 0.6211287860614934, "step_quality_min": 0.4934075723415511, "step_quality_max": 0.939259027710597, "alignment_signed_mean": 0.11520544834967147, "alignment_abs_mean": 0.17874466816039705, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.4077411142098526, 0.1330452535366658, 1.0409309267833238, 0.15530057025092672, 0.7455616645176278, 0.63363957179673, 0.13608978776784675], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877411142098526, 0.1330452535366658, 1.0409309267833238, 0.15530057025092672, 0.7455616645176278, 0.63363957179673, 0.13608978776784675], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193018094212244, "base_score": 0.540680998352304, "final_score": 0.540680998352304, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12893342971801758, "door_quality": 0.7851933995010139, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6931334278585912, "step_quality_min": 0.4522591260970554, "step_quality_max": 0.9347491923144512, "alignment_signed_mean": 0.02233527685815675, "alignment_abs_mean": 0.1609634073084921, "alignment_min": -0.5383384516896824, "alignment_max": 0.24623478983824099, "door_contact_steps": 15, "path_steps": 28}, {"path_found": true, "path_length": 1.117846588944446, "base_score": 0.514648525230904, "final_score": 0.514648525230904, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12526512145996094, "door_quality": 0.7470257995150456, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6386082850214937, "step_quality_min": 0.5043327542986966, "step_quality_max": 0.9379146307245968, "alignment_signed_mean": 0.08383943402512699, "alignment_abs_mean": 0.16926354965555432, "alignment_min": -0.525358311127128, "alignment_max": 0.16649404041601276, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5276647617916039, "score_before_reliability": 0.5276647617916039, "median_path_length": 1.1185741991828353, "door_quality": 0.7661095995080297, "door_open_delta": 0.12709927558898926, "step_quality_mean": 0.6658708564400424, "alignment_abs_mean": 0.1651134784820232, "alignment_signed_mean": 0.05308735544164187, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5276647617916039, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774111420985256, 0.1330452535366658, 1.0409309267833238, 0.15530057025092672, 0.7455616645176278, 0.63363957179673, 0.13608978776784675], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345012343756469, "base_score": 0.5260020313376877, "final_score": 0.5260020313376877, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1320812702178955, "door_quality": 0.767756136952202, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6682230527888601, "step_quality_min": 0.5174866137345163, "step_quality_max": 0.9406022552586069, "alignment_signed_mean": 0.10788385717117677, "alignment_abs_mean": 0.11066091858829226, "alignment_min": -0.01866802397060962, "alignment_max": 0.1655554560543726, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1345055050540795, "base_score": 0.5251031778901099, "final_score": 0.5251031778901099, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13146567344665527, "door_quality": 0.7664452554357506, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6663503649082152, "step_quality_min": 0.5191666428438688, "step_quality_max": 0.9459618571580375, "alignment_signed_mean": 0.11127230337306758, "alignment_abs_mean": 0.11127230337306758, "alignment_min": 0.04742755955626868, "alignment_max": 0.16785918173066688, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5255526046138987, "score_before_reliability": 0.5255526046138987, "median_path_length": 1.1345033697148632, "door_quality": 0.7671006961939764, "door_open_delta": 0.1317734718322754, "step_quality_mean": 0.6672867088485377, "alignment_abs_mean": 0.11096661098067992, "alignment_signed_mean": 0.10957808027212218, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5255526046138987, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077411142098526, 0.1330452535366658, 1.0409309267833238, 0.15530057025092672, 0.7455616645176278, 0.63363957179673, 0.13608978776784675], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066852192537922, "base_score": 0.5120968158324898, "final_score": 0.7560484079162448, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.028517553559475987, "door_open_delta": 0.12854409217834473, "door_quality": 0.7405615677020643, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6293736681458061, "step_quality_min": 0.4934075723415511, "step_quality_max": 0.9252284560013171, "alignment_signed_mean": 0.07358930950357363, "alignment_abs_mean": 0.20066774912502477, "alignment_min": -0.594819891197847, "alignment_max": 0.17765404609741486, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.106726582481098, "base_score": 0.5041080184354608, "final_score": 0.5041080184354608, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.10941219329833984, "door_quality": 0.7290187327840265, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6128839039771807, "step_quality_min": 0.4941377496852896, "step_quality_max": 0.939259027710597, "alignment_signed_mean": 0.15682158719576933, "alignment_abs_mean": 0.15682158719576933, "alignment_min": 0.01986158672542067, "alignment_max": 0.17695187967176323, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5081024171339753, "score_before_reliability": 0.6300782131758529, "median_path_length": 1.106705900867445, "door_quality": 0.7347901502430454, "door_open_delta": 0.11897814273834229, "step_quality_mean": 0.6211287860614934, "alignment_abs_mean": 0.17874466816039705, "alignment_signed_mean": 0.11520544834967147, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6300782131758529, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 181, "state": {"door_angle": 0.7261890172958374, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31088966131210327, -0.09492810070514679, 1.1860260963439941, 0.1656273454427719, 0.8910778760910034, 0.4157525897026062, 0.07548265159130096], "right_arm_pose": [0.4383706748485565, -0.4131723940372467, 1.0484256744384766, -0.44774365425109863, 0.6090937852859497, 0.6241470575332642, 0.19741086661815643], "left_arm_joint_positions": [-0.2701528072357178, 0.024860650300979614, -0.30938026309013367, -1.9452543258666992, 0.8783248662948608, 1.6849818229675293, 0.4530726671218872], "right_arm_joint_positions": [0.3977494239807129, 0.11061334609985352, 0.5725064277648926, -2.3979530334472656, -1.0073879957199097, 1.249668836593628, -2.285032033920288], "pregrasp_goal_pose": [0.3877399904957275, 0.13304427129546031, 1.0409306905120346, 0.1552968107660224, 0.7455630587018276, 0.6336379060692789, 0.1360941955309525], "pregrasp_position_error": 0.28094492749426114, "pregrasp_orientation_error_deg": 30.93345729025488}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.006756756756756757, "tray_projected_count": 296, "tray_visible_count": 2}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7638888888888888, "tray_projected_count": 288, "tray_visible_count": 220}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.4256926652613918, "strict_length": 0.0, "assisted_length": 1.1345557800329051, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.1466764211654663, "door_quality": 0.6213550615912871, "step_quality_mean": 0.45907865941612447, "step_quality_min": 0.05902763218688323, "step_quality_max": 0.928693116854961, "alignment_signed_mean": -0.4445217869746626, "alignment_abs_mean": 0.5242928262923544, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3677399904957275, 0.13304427129546031, 1.0409306905120346, 0.1552968107660224, 0.7455630587018276, 0.6336379060692789, 0.1360941955309525], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877399904957275, 0.13304427129546031, 1.0409306905120346, 0.1552968107660224, 0.7455630587018276, 0.6336379060692789, 0.1360941955309525], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193349794049425, "base_score": 0.5173759813426315, "final_score": 0.7586879906713158, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.012183503744535886, "door_open_delta": 0.1315760612487793, "door_quality": 0.7513574520535573, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6447963600765105, "step_quality_min": 0.48007242651186827, "step_quality_max": 0.9326139844367775, "alignment_signed_mean": 0.058183904933021065, "alignment_abs_mean": 0.17612969094316008, "alignment_min": -0.6198217294286353, "alignment_max": 0.1707654967711447, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178068818066234, "base_score": 0.5154727309465466, "final_score": 0.5154727309465466, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13098359107971191, "door_quality": 0.7482122524877433, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6403032178396333, "step_quality_min": 0.49605090527604084, "step_quality_max": 0.9352234733269759, "alignment_signed_mean": 0.06257344576846507, "alignment_abs_mean": 0.17821398679494202, "alignment_min": -0.6070413232408712, "alignment_max": 0.16798942963987315, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.516424356144589, "score_before_reliability": 0.6370803608089312, "median_path_length": 1.118570930605783, "door_quality": 0.7497848522706503, "door_open_delta": 0.1312798261642456, "step_quality_mean": 0.6425497889580719, "alignment_abs_mean": 0.17717183886905105, "alignment_signed_mean": 0.060378675350743066, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6370803608089312, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677399904957275, 0.13304427129546031, 1.0409306905120346, 0.1552968107660224, 0.7455630587018276, 0.6336379060692789, 0.1360941955309525], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345486628905628, "base_score": 0.4663407336806031, "final_score": 0.7331703668403016, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.01015297490998112, "door_open_delta": 0.14061236381530762, "door_quality": 0.6806848629454311, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.543835518493473, "step_quality_min": 0.13203792584850238, "step_quality_max": 0.882406745026206, "alignment_signed_mean": -0.34363814357844996, "alignment_abs_mean": 0.42448072431715345, "alignment_min": -0.9332392509754763, "alignment_max": 0.24001532034041542, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1345628971752475, "base_score": 0.38504459684218056, "final_score": 0.6925222984210903, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.005202641241946018, "door_open_delta": 0.152740478515625, "door_quality": 0.5620252602371432, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.374321800338776, "step_quality_min": 0.05902763218688323, "step_quality_max": 0.928693116854961, "alignment_signed_mean": -0.5454054303708752, "alignment_abs_mean": 0.6241049282675554, "alignment_min": -0.9701545679953961, "alignment_max": 0.3159682138591073, "door_contact_steps": 7, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4256926652613918, "score_before_reliability": 0.712846332630696, "median_path_length": 1.1345557800329051, "door_quality": 0.6213550615912871, "door_open_delta": 0.1466764211654663, "step_quality_mean": 0.45907865941612447, "alignment_abs_mean": 0.5242928262923544, "alignment_signed_mean": -0.4445217869746626, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.712846332630696, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077399904957275, 0.13304427129546031, 1.0409306905120346, 0.1552968107660224, 0.7455630587018276, 0.6336379060692789, 0.1360941955309525], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066362848898026, "base_score": 0.5041982592076354, "final_score": 0.5041982592076354, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11485075950622559, "door_quality": 0.7291272885235116, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6130389836050165, "step_quality_min": 0.4909680717746618, "step_quality_max": 0.9409762824684129, "alignment_signed_mean": 0.15372602566236315, "alignment_abs_mean": 0.15372602566236315, "alignment_min": 0.09837286255264505, "alignment_max": 0.1817198803755636, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.106756172947664, "base_score": 0.513202420448536, "final_score": 0.7566012102242681, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.02816925124955655, "door_open_delta": 0.13178730010986328, "door_quality": 0.7421779753965236, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6316828219950338, "step_quality_min": 0.49520825060142376, "step_quality_max": 0.9273040366934076, "alignment_signed_mean": 0.06924070690853885, "alignment_abs_mean": 0.20046440529670514, "alignment_min": -0.5896686620661984, "alignment_max": 0.18050005420659035, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5087003398280857, "score_before_reliability": 0.6303997347159518, "median_path_length": 1.1066962289187332, "door_quality": 0.7356526319600176, "door_open_delta": 0.12331902980804443, "step_quality_mean": 0.6223609028000252, "alignment_abs_mean": 0.17709521547953416, "alignment_signed_mean": 0.111483366285451, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6303997347159518, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 182, "state": {"door_angle": 0.7255932092666626, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.31090039014816284, -0.09489621222019196, 1.1859780550003052, 0.16562025249004364, 0.8910811543464661, 0.4157540202140808, 0.07545145601034164], "right_arm_pose": [0.44028812646865845, -0.42332154512405396, 1.0519444942474365, -0.4676150381565094, 0.6020435690879822, 0.6181235313415527, 0.19184091687202454], "left_arm_joint_positions": [-0.27013230323791504, 0.02487066388130188, -0.30936118960380554, -1.9452271461486816, 0.8783515691757202, 1.684936761856079, 0.45308244228363037], "right_arm_joint_positions": [0.4014911651611328, 0.09347748756408691, 0.5887439250946045, -2.3977527618408203, -1.0060986280441284, 1.2686893939971924, -2.3245012760162354], "pregrasp_goal_pose": [0.3877406026553776, 0.13304450328673365, 1.0409291727599246, 0.15529673901633773, 0.7455595974718212, 0.6336419727540342, 0.13609430492464877], "pregrasp_position_error": 0.2808924461126481, "pregrasp_orientation_error_deg": 30.93491007003767}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.14285714285714285, "tray_projected_count": 294, "tray_visible_count": 42}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.5113565485256989, "strict_length": 0.0, "assisted_length": 1.1066775521695773, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.13352560997009277, "door_quality": 0.7394891384129487, "step_quality_mean": 0.6278416263042125, "step_quality_min": 0.3779702030829821, "step_quality_max": 0.9282421021540751, "alignment_signed_mean": 0.0794543088832321, "alignment_abs_mean": 0.20244094964133139, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.4077406026553776, 0.13304450328673365, 1.0409291727599246, 0.15529673901633773, 0.7455595974718212, 0.6336419727540342, 0.13609430492464877], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877406026553776, 0.13304450328673365, 1.0409291727599246, 0.15529673901633773, 0.7455595974718212, 0.6336419727540342, 0.13609430492464877], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119253294902837, "base_score": 0.5184941780848236, "final_score": 0.5184941780848236, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12411928176879883, "door_quality": 0.7529608473225852, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6470869247465503, "step_quality_min": 0.5051179460888096, "step_quality_max": 0.9360141799236698, "alignment_signed_mean": 0.1147912609703112, "alignment_abs_mean": 0.13383111250538643, "alignment_min": -0.11376311292207471, "alignment_max": 0.1698935855104223, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.117766879734464, "base_score": 0.5156713867772789, "final_score": 0.5156713867772789, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1259937286376953, "door_quality": 0.7484906223485867, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6407008890694096, "step_quality_min": 0.5079485909070282, "step_quality_max": 0.9323278988565332, "alignment_signed_mean": 0.08888529425406605, "alignment_abs_mean": 0.16320099854143197, "alignment_min": -0.44589422572419557, "alignment_max": 0.1687668962647079, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5170827824310512, "score_before_reliability": 0.5170827824310512, "median_path_length": 1.1185100873186506, "door_quality": 0.7507257348355859, "door_open_delta": 0.12505650520324707, "step_quality_mean": 0.6438939069079799, "alignment_abs_mean": 0.14851605552340919, "alignment_signed_mean": 0.10183827761218862, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5170827824310512, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774060265537756, 0.13304450328673365, 1.0409291727599246, 0.15529673901633773, 0.7455595974718212, 0.6336419727540342, 0.13609430492464877], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345199341668066, "base_score": 0.5264851347475753, "final_score": 0.5264851347475753, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1360940933227539, "door_quality": 0.7684660680066995, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6692372400095707, "step_quality_min": 0.5173685060511669, "step_quality_max": 0.9399186861356736, "alignment_signed_mean": 0.0723494290020943, "alignment_abs_mean": 0.1424893233452979, "alignment_min": -0.44012783700360264, "alignment_max": 0.18167330329466388, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1344583621453825, "base_score": 0.4405073252182592, "final_score": 0.4405073252182592, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13727927207946777, "door_quality": 0.6429582948991229, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.48994042128446136, "step_quality_min": 0.09473690306221882, "step_quality_max": 0.8792185969721316, "alignment_signed_mean": -0.4540597312399604, "alignment_abs_mean": 0.536163207482844, "alignment_min": -0.9520993186764062, "alignment_max": 0.2884027855224205, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.48349622998291725, "score_before_reliability": 0.48349622998291725, "median_path_length": 1.1344891481560946, "door_quality": 0.7057121814529113, "door_open_delta": 0.13668668270111084, "step_quality_mean": 0.579588830647016, "alignment_abs_mean": 0.33932626541407096, "alignment_signed_mean": -0.19085515111893306, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.48349622998291725, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077406026553776, 0.13304450328673365, 1.0409291727599246, 0.15529673901633773, 0.7455595974718212, 0.6336419727540342, 0.13609430492464877], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066643946522474, "base_score": 0.5132941216478271, "final_score": 0.7566470608239135, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.028168164743566135, "door_open_delta": 0.130781888961792, "door_quality": 0.7422878819392433, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6318398313417763, "step_quality_min": 0.49431341290835923, "step_quality_max": 0.9248940830225374, "alignment_signed_mean": 0.07403216584813306, "alignment_abs_mean": 0.19908854759660208, "alignment_min": -0.5903991002025663, "alignment_max": 0.18201512505628994, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1066907096869072, "base_score": 0.5094189754035707, "final_score": 0.7547094877017854, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.03098535147507525, "door_open_delta": 0.13626933097839355, "door_quality": 0.736690394886654, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6238434212666486, "step_quality_min": 0.3779702030829821, "step_quality_max": 0.9282421021540751, "alignment_signed_mean": 0.08487645191833113, "alignment_abs_mean": 0.2057933516860607, "alignment_min": -0.5949946729267599, "alignment_max": 0.3899655601693136, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5113565485256989, "score_before_reliability": 0.7556782742628494, "median_path_length": 1.1066775521695773, "door_quality": 0.7394891384129487, "door_open_delta": 0.13352560997009277, "step_quality_mean": 0.6278416263042125, "alignment_abs_mean": 0.20244094964133139, "alignment_signed_mean": 0.0794543088832321, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7556782742628494, "source": "assisted"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 183, "state": {"door_angle": 0.7250624895095825, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109171390533447, -0.09492334723472595, 1.185930848121643, 0.16564223170280457, 0.8910914659500122, 0.415734201669693, 0.07539017498493195], "right_arm_pose": [0.44247129559516907, -0.43351584672927856, 1.055458903312683, -0.4874252378940582, 0.5939332842826843, 0.6123910546302795, 0.18611060082912445], "left_arm_joint_positions": [-0.2701427936553955, 0.024976283311843872, -0.3093568980693817, -1.945317268371582, 0.878299355506897, 1.684974193572998, 0.45308029651641846], "right_arm_joint_positions": [0.4053230285644531, 0.07666420936584473, 0.6050636768341064, -2.3973422050476074, -1.0047987699508667, 1.2878243923187256, -2.3639986515045166], "pregrasp_goal_pose": [0.3877409543867521, 0.13304488650322782, 1.040932542909547, 0.1552984697676369, 0.7455669702886047, 0.6336333217324465, 0.13609221760558932], "pregrasp_position_error": 0.28088418024225564, "pregrasp_orientation_error_deg": 30.93777282040745}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.20416666666666666, "tray_projected_count": 240, "tray_visible_count": 49}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.5177462567137675, "strict_length": 0.0, "assisted_length": 1.1186032716958072, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.13110113143920898, "door_quality": 0.7517110947696022, "step_quality_mean": 0.6453015639565745, "step_quality_min": 0.5034482761955144, "step_quality_max": 0.9374833745827349, "alignment_signed_mean": 0.07139733765937857, "alignment_abs_mean": 0.16736604390508325, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3877409543867521, 0.13304488650322782, 1.040932542909547, 0.1552984697676369, 0.7455669702886047, 0.6336333217324465, 0.13609221760558932], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877409543867521, 0.13304488650322782, 1.040932542909547, 0.1552984697676369, 0.7455669702886047, 0.6336333217324465, 0.13609221760558932], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193043047273235, "base_score": 0.5155589134490527, "final_score": 0.7577794567245264, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.012187146325879783, "door_open_delta": 0.13054513931274414, "door_quality": 0.748710966057732, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6410156657967601, "step_quality_min": 0.5034482761955144, "step_quality_max": 0.933870408605714, "alignment_signed_mean": 0.05102719073527784, "alignment_abs_mean": 0.17754330829295425, "alignment_min": -0.605724108784928, "alignment_max": 0.17040480329106625, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.117902238664291, "base_score": 0.5199335999784823, "final_score": 0.7599667999892412, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.008459001369340857, "door_open_delta": 0.13165712356567383, "door_quality": 0.7547112234814722, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.649587462116389, "step_quality_min": 0.5040741021072674, "step_quality_max": 0.9374833745827349, "alignment_signed_mean": 0.0917674845834793, "alignment_abs_mean": 0.15718877951721227, "alignment_min": -0.5386353282877345, "alignment_max": 0.16698765971386256, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5177462567137675, "score_before_reliability": 0.7588731283568838, "median_path_length": 1.1186032716958072, "door_quality": 0.7517110947696022, "door_open_delta": 0.13110113143920898, "step_quality_mean": 0.6453015639565745, "alignment_abs_mean": 0.16736604390508325, "alignment_signed_mean": 0.07139733765937857, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7588731283568838, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677409543867521, 0.13304488650322782, 1.040932542909547, 0.1552984697676369, 0.7455669702886047, 0.6336333217324465, 0.13609221760558932], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134555068026675, "base_score": 0.38090134621169797, "final_score": 0.690450673105849, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.003956838353804204, "door_open_delta": 0.15258240699768066, "door_quality": 0.555976168235162, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.3656802403359457, "step_quality_min": 0.04561771547558435, "step_quality_max": 0.9667837198710618, "alignment_signed_mean": -0.5894728058653605, "alignment_abs_mean": 0.6506369093894392, "alignment_min": -0.9769348629617832, "alignment_max": 0.31429574397565946, "door_contact_steps": 7, "path_steps": 28}, {"path_found": true, "path_length": 1.1344999618504217, "base_score": 0.5200183689322087, "final_score": 0.7600091844661043, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.011718650252777147, "door_open_delta": 0.13932371139526367, "door_quality": 0.7590220207125968, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6557457438751385, "step_quality_min": 0.5030572727423956, "step_quality_max": 0.9758491389529474, "alignment_signed_mean": 0.05589295050866215, "alignment_abs_mean": 0.15677209760189628, "alignment_min": -0.6137767212211944, "alignment_max": 0.19429345671144704, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4504598575719533, "score_before_reliability": 0.7252299287859767, "median_path_length": 1.1345275149385483, "door_quality": 0.6574990944738794, "door_open_delta": 0.14595305919647217, "step_quality_mean": 0.5107129921055421, "alignment_abs_mean": 0.4037045034956677, "alignment_signed_mean": -0.2667899276783492, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7252299287859767, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077409543867521, 0.13304488650322782, 1.040932542909547, 0.1552984697676369, 0.7455669702886047, 0.6336333217324465, 0.13609221760558932], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1067482941837057, "base_score": 0.5104762957935816, "final_score": 0.7552381478967908, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.028489422235031096, "door_open_delta": 0.13009285926818848, "door_quality": 0.7382335967475449, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6260479953536356, "step_quality_min": 0.49218391263509553, "step_quality_max": 0.9251440709248095, "alignment_signed_mean": 0.07042970942538306, "alignment_abs_mean": 0.20233203924706908, "alignment_min": -0.5996947468370706, "alignment_max": 0.17969347894150747, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.106630697980745, "base_score": 0.5163248072629495, "final_score": 0.7581624036314747, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.014250045292593598, "door_open_delta": 0.130615234375, "door_quality": 0.7466622479312572, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6380889256160818, "step_quality_min": 0.49339939336318234, "step_quality_max": 0.927859918351422, "alignment_signed_mean": 0.10915700601398502, "alignment_abs_mean": 0.17963373862018392, "alignment_min": -0.5668858262309564, "alignment_max": 0.17766767772802938, "door_contact_steps": 18, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5134005515282656, "score_before_reliability": 0.7567002757641328, "median_path_length": 1.1066894960822253, "door_quality": 0.742447922339401, "door_open_delta": 0.13035404682159424, "step_quality_mean": 0.6320684604848588, "alignment_abs_mean": 0.1909828889336265, "alignment_signed_mean": 0.08979335771968404, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7567002757641328, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 184, "state": {"door_angle": 0.7259701490402222, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109223544597626, -0.09491385519504547, 1.1860069036483765, 0.1656198650598526, 0.8910903930664062, 0.4157352149486542, 0.07544634491205215], "right_arm_pose": [0.44496819376945496, -0.4437240958213806, 1.0590976476669312, -0.5069425702095032, 0.5848671793937683, 0.6069968938827515, 0.1802617907524109], "left_arm_joint_positions": [-0.270122766494751, 0.024904996156692505, -0.30935928225517273, -1.9452052116394043, 0.8782979249954224, 1.6849846839904785, 0.4530888795852661], "right_arm_joint_positions": [0.40904903411865234, 0.059923410415649414, 0.6213572025299072, -2.397134780883789, -1.0034898519515991, 1.3069748878479004, -2.403423309326172], "pregrasp_goal_pose": [0.3877389866253005, 0.13304490740904046, 1.0409327600310738, 0.15530222933120658, 0.7455637008181042, 0.6336371910809346, 0.1360878233576868], "pregrasp_position_error": 0.2809136870491278, "pregrasp_orientation_error_deg": 30.936482874433956}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.011111111111111112, "grasp_projected_count": 90, "grasp_visible_count": 1, "tray_visibility": 0.2544642857142857, "tray_projected_count": 224, "tray_visible_count": 57}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.5106534125581661, "strict_length": 0.0, "assisted_length": 1.1067636147012663, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.1274327039718628, "door_quality": 0.7384935725332034, "step_quality_mean": 0.6264193893331478, "step_quality_min": 0.45686827963363574, "step_quality_max": 0.9267032831089328, "alignment_signed_mean": 0.06666436568153442, "alignment_abs_mean": 0.20570980680753337, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.4077389866253005, 0.13304490740904046, 1.0409327600310738, 0.15530222933120658, 0.7455637008181042, 0.6336371910809346, 0.1360878233576868], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877389866253005, 0.13304490740904046, 1.0409327600310738, 0.15530222933120658, 0.7455637008181042, 0.6336371910809346, 0.1360878233576868], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.119364903323834, "base_score": 0.5169007062370902, "final_score": 0.5169007062370902, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12293839454650879, "door_quality": 0.7506747231230414, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6438210330329164, "step_quality_min": 0.5079377296338538, "step_quality_max": 0.9380195403668473, "alignment_signed_mean": 0.13286015965197928, "alignment_abs_mean": 0.13286015965197928, "alignment_min": 0.0723242170658985, "alignment_max": 0.17273806761956936, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1179497732483656, "base_score": 0.5152869385938299, "final_score": 0.5152869385938299, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1295626163482666, "door_quality": 0.747978199308819, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6399688561554558, "step_quality_min": 0.5053196295809809, "step_quality_max": 0.935482640504044, "alignment_signed_mean": 0.07000198940097609, "alignment_abs_mean": 0.1713504928970002, "alignment_min": -0.5847956259953139, "alignment_max": 0.16821167124186012, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5160938224154601, "score_before_reliability": 0.5160938224154601, "median_path_length": 1.1186573382860998, "door_quality": 0.7493264612159303, "door_open_delta": 0.1262505054473877, "step_quality_mean": 0.6418949445941862, "alignment_abs_mean": 0.15210532627448975, "alignment_signed_mean": 0.10143107452647768, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5160938224154601, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36773898662530047, 0.13304490740904046, 1.0409327600310738, 0.15530222933120658, 0.7455637008181042, 0.6336371910809346, 0.1360878233576868], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345565152598964, "base_score": 0.4618562350761069, "final_score": 0.4618562350761069, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1332995891571045, "door_quality": 0.6741409193772567, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5344870276817953, "step_quality_min": 0.09701575006375018, "step_quality_max": 0.8791742552020633, "alignment_signed_mean": -0.25969118448021217, "alignment_abs_mean": 0.36398233952929226, "alignment_min": -0.9509470926643959, "alignment_max": 0.19699809934105803, "door_contact_steps": 8, "path_steps": 28}, {"path_found": true, "path_length": 1.1346547166101526, "base_score": 0.3970642489024572, "final_score": 0.6985321244512286, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.0038737117717402127, "door_open_delta": 0.16476869583129883, "door_quality": 0.5795873254707165, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.3994104649581664, "step_quality_min": 0.07710711252662983, "step_quality_max": 0.9343787226952915, "alignment_signed_mean": -0.5354144520615517, "alignment_abs_mean": 0.6092915205964697, "alignment_min": -0.9610132577112547, "alignment_max": 0.2006978399204098, "door_contact_steps": 7, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.429460241989282, "score_before_reliability": 0.5801941797636677, "median_path_length": 1.1346056159350244, "door_quality": 0.6268641224239866, "door_open_delta": 0.14903414249420166, "step_quality_mean": 0.46694874631998085, "alignment_abs_mean": 0.486636930062881, "alignment_signed_mean": -0.39755281827088196, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.5801941797636677, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077389866253005, 0.13304490740904046, 1.0409327600310738, 0.15530222933120658, 0.7455637008181042, 0.6336371910809346, 0.1360878233576868], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1067135107598907, "base_score": 0.5080021786643228, "final_score": 0.7540010893321614, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.017173684720983524, "door_open_delta": 0.12380003929138184, "door_quality": 0.734647094129451, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.62092442018493, "step_quality_min": 0.45686827963363574, "step_quality_max": 0.9267032831089328, "alignment_signed_mean": 0.07365603032353378, "alignment_abs_mean": 0.20450164079124508, "alignment_min": -0.6134332796875775, "alignment_max": 0.18645619130643024, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1068137186426419, "base_score": 0.5133046464520093, "final_score": 0.7566523232260047, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.028566759596048725, "door_open_delta": 0.13106536865234375, "door_quality": 0.7423400509369558, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6319143584813655, "step_quality_min": 0.4946899036311607, "step_quality_max": 0.9240072794992024, "alignment_signed_mean": 0.05967270103953504, "alignment_abs_mean": 0.20691797282382168, "alignment_min": -0.5968352616374324, "alignment_max": 0.17796118929578889, "door_contact_steps": 18, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5106534125581661, "score_before_reliability": 0.755326706279083, "median_path_length": 1.1067636147012663, "door_quality": 0.7384935725332034, "door_open_delta": 0.1274327039718628, "step_quality_mean": 0.6264193893331478, "alignment_abs_mean": 0.20570980680753337, "alignment_signed_mean": 0.06666436568153442, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.755326706279083, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
+{"frame_index": 185, "state": {"door_angle": 0.7269049882888794, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.31089502573013306, -0.09490099549293518, 1.1860026121139526, 0.16562937200069427, 0.8910872340202332, 0.41573774814605713, 0.07544955611228943], "right_arm_pose": [0.44779443740844727, -0.45397311449050903, 1.0628836154937744, -0.5261656045913696, 0.5748268365859985, 0.6019717454910278, 0.17422404885292053], "left_arm_joint_positions": [-0.2701263427734375, 0.02488759160041809, -0.3093509376049042, -1.9452052116394043, 0.878325343132019, 1.6850178241729736, 0.45313847064971924], "right_arm_joint_positions": [0.4128396511077881, 0.04315948486328125, 0.6376519203186035, -2.39678955078125, -1.0021852254867554, 1.3261213302612305, -2.442904472351074], "pregrasp_goal_pose": [0.3877410010854102, 0.1330453082598684, 1.0409330295552706, 0.15530248967358345, 0.745565340226872, 0.6336352665332062, 0.13608750552114435], "pregrasp_position_error": 0.28090924710058857, "pregrasp_orientation_error_deg": 30.935713700214404}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.28888888888888886, "grasp_projected_count": 90, "grasp_visible_count": 26, "tray_visibility": 0.3888888888888889, "tray_projected_count": 216, "tray_visible_count": 84}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.4318813873999663, "strict_length": 0.0, "assisted_length": 1.1346171247653465, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.19285261631011963, "door_quality": 0.6304012944960109, "step_quality_mean": 0.47200184928001565, "step_quality_min": 0.0699439134093548, "step_quality_max": 0.908985557677587, "alignment_signed_mean": -0.45595219443954493, "alignment_abs_mean": 0.5498681456510192, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3677410010854102, 0.1330453082598684, 1.0409330295552706, 0.15530248967358345, 0.745565340226872, 0.6336352665332062, 0.13608750552114435], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877410010854102, 0.1330453082598684, 1.0409330295552706, 0.15530248967358345, 0.745565340226872, 0.6336352665332062, 0.13608750552114435], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193650340140615, "base_score": 0.5180870983701287, "final_score": 0.5180870983701287, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12791061401367188, "door_quality": 0.7523977068947725, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6462824384211036, "step_quality_min": 0.5106083023817587, "step_quality_max": 0.9351481131974395, "alignment_signed_mean": 0.09929685505347904, "alignment_abs_mean": 0.14822740120307962, "alignment_min": -0.2960298042050835, "alignment_max": 0.16804734591106152, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178060397714682, "base_score": 0.5156386589529267, "final_score": 0.5156386589529267, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12373232841491699, "door_quality": 0.748452888067943, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6406469829542043, "step_quality_min": 0.5061546742370243, "step_quality_max": 0.936348143297629, "alignment_signed_mean": 0.13760669558045843, "alignment_abs_mean": 0.13760669558045843, "alignment_min": 0.07147861661853988, "alignment_max": 0.16795479765948212, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5168628786615277, "score_before_reliability": 0.5168628786615277, "median_path_length": 1.1185855368927649, "door_quality": 0.7504252974813577, "door_open_delta": 0.12582147121429443, "step_quality_mean": 0.6434647106876539, "alignment_abs_mean": 0.14291704839176902, "alignment_signed_mean": 0.11845177531696874, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5168628786615277, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677410010854102, 0.1330453082598684, 1.0409330295552706, 0.15530248967358345, 0.745565340226872, 0.6336352665332062, 0.13608750552114435], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1346284633231678, "base_score": 0.42038490801535583, "final_score": 0.7101924540076779, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.0032719738963776323, "door_open_delta": 0.2528660297393799, "door_quality": 0.6136226894898819, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.44803241355697415, "step_quality_min": 0.0699439134093548, "step_quality_max": 0.8497577352441751, "alignment_signed_mean": -0.5589091722981269, "alignment_abs_mean": 0.6443234106288267, "alignment_min": -0.9646350999615622, "alignment_max": 0.36683724838909576, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1346057862075252, "base_score": 0.4433778667845768, "final_score": 0.4433778667845768, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13283920288085938, "door_quality": 0.64717989950214, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.49597128500305715, "step_quality_min": 0.09183957862668024, "step_quality_max": 0.908985557677587, "alignment_signed_mean": -0.352995216580963, "alignment_abs_mean": 0.4554128806732117, "alignment_min": -0.953564257997746, "alignment_max": 0.3501505269630665, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4318813873999663, "score_before_reliability": 0.5767851603961274, "median_path_length": 1.1346171247653465, "door_quality": 0.6304012944960109, "door_open_delta": 0.19285261631011963, "step_quality_mean": 0.47200184928001565, "alignment_abs_mean": 0.5498681456510192, "alignment_signed_mean": -0.45595219443954493, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.5767851603961274, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077410010854102, 0.1330453082598684, 1.0409330295552706, 0.15530248967358345, 0.745565340226872, 0.6336352665332062, 0.13608750552114435], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1068806805230205, "base_score": 0.5071626419753666, "final_score": 0.5071626419753666, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11254167556762695, "door_quality": 0.7334738689829442, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6192483842613489, "step_quality_min": 0.49610969531980015, "step_quality_max": 0.9268251805310443, "alignment_signed_mean": 0.15222100040224992, "alignment_abs_mean": 0.15222100040224992, "alignment_min": 0.02245013723707386, "alignment_max": 0.18207929813390522, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1066753678548205, "base_score": 0.5053310895764564, "final_score": 0.5053310895764564, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11245322227478027, "door_quality": 0.7307750086409648, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6153928694870926, "step_quality_min": 0.49225922072550904, "step_quality_max": 0.9262776646658315, "alignment_signed_mean": 0.15713377299938605, "alignment_abs_mean": 0.15713377299938605, "alignment_min": 0.09942388066831195, "alignment_max": 0.17956796545748493, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5062468657759116, "score_before_reliability": 0.5062468657759116, "median_path_length": 1.1067780241889205, "door_quality": 0.7321244388119545, "door_open_delta": 0.11249744892120361, "step_quality_mean": 0.6173206268742207, "alignment_abs_mean": 0.154677386700818, "alignment_signed_mean": 0.154677386700818, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5062468657759116, "source": "assisted"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 186, "state": {"door_angle": 0.7268754243850708, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.3109053075313568, -0.0949379950761795, 1.1859885454177856, 0.16566291451454163, 0.8910844922065735, 0.4157305061817169, 0.07544799149036407], "right_arm_pose": [0.45095986127853394, -0.4642190635204315, 1.0667829513549805, -0.5450550317764282, 0.5638370513916016, 0.5972897410392761, 0.16807088255882263], "left_arm_joint_positions": [-0.2701234817504883, 0.02492406964302063, -0.30937930941581726, -1.9452528953552246, 0.8782967329025269, 1.6850311756134033, 0.45315349102020264], "right_arm_joint_positions": [0.4165990352630615, 0.026116132736206055, 0.6538944244384766, -2.396374225616455, -1.000827670097351, 1.345322608947754, -2.4823977947235107], "pregrasp_goal_pose": [0.38774821712375707, 0.13303675695354777, 1.0409299934873009, 0.15529701990373637, 0.7455618054762374, 0.6336393802371338, 0.13609395885465406], "pregrasp_position_error": 0.28092579768652537, "pregrasp_orientation_error_deg": 30.937209021811032}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.3, "grasp_projected_count": 90, "grasp_visible_count": 27, "tray_visibility": 0.35051546391752575, "tray_projected_count": 194, "tray_visible_count": 68}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.443420075235846, "strict_length": 0.0, "assisted_length": 1.1345250902113406, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.1758631467819214, "door_quality": 0.6472245560388568, "step_quality_mean": 0.49603508005550967, "step_quality_min": 0.0719892529530205, "step_quality_max": 0.9403378692138905, "alignment_signed_mean": -0.40892345964973864, "alignment_abs_mean": 0.4905204700622445, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.36774821712375705, 0.13303675695354777, 1.0409299934873009, 0.15529701990373637, 0.7455618054762374, 0.6336393802371338, 0.13609395885465406], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774821712375707, 0.13303675695354777, 1.0409299934873009, 0.15529701990373637, 0.7455618054762374, 0.6336393802371338, 0.13609395885465406], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193668358704991, "base_score": 0.5179887735241354, "final_score": 0.5179887735241354, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12857556343078613, "door_quality": 0.7522553653705257, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6460790933864654, "step_quality_min": 0.5079581184464024, "step_quality_max": 0.9332144226014294, "alignment_signed_mean": 0.07176324178751091, "alignment_abs_mean": 0.16363118877783758, "alignment_min": -0.5098671057963129, "alignment_max": 0.16134938446829583, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178733072374252, "base_score": 0.5144898489794814, "final_score": 0.5144898489794814, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12369132041931152, "door_quality": 0.7468021278476034, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6382887540680049, "step_quality_min": 0.5040975592330529, "step_quality_max": 0.9326029686409806, "alignment_signed_mean": 0.13700150517710574, "alignment_abs_mean": 0.13700150517710574, "alignment_min": 0.07592576873402138, "alignment_max": 0.16590460518752126, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5162393112518084, "score_before_reliability": 0.5162393112518084, "median_path_length": 1.1186200715539623, "door_quality": 0.7495287466090645, "door_open_delta": 0.12613344192504883, "step_quality_mean": 0.6421839237272351, "alignment_abs_mean": 0.15031634697747165, "alignment_signed_mean": 0.10438237348230833, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5162393112518084, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774821712375705, 0.13303675695354777, 1.0409299934873009, 0.15529701990373637, 0.7455618054762374, 0.6336393802371338, 0.13609395885465406], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344650829315734, "base_score": 0.42779402781315, "final_score": 0.713897013906575, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.004585753084701263, "door_open_delta": 0.2047731876373291, "door_quality": 0.6244035436813469, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.46343363383049563, "step_quality_min": 0.0719892529530205, "step_quality_max": 0.8699493326600641, "alignment_signed_mean": -0.3899529646289841, "alignment_abs_mean": 0.49475512758599105, "alignment_min": -0.9636009395181355, "alignment_max": 0.4767070847886394, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1345850974911078, "base_score": 0.45904612265854194, "final_score": 0.7295230613292709, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.009962702484030228, "door_open_delta": 0.14695310592651367, "door_quality": 0.6700455683963666, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5286365262805237, "step_quality_min": 0.08491329446463336, "step_quality_max": 0.9403378692138905, "alignment_signed_mean": -0.4278939546704931, "alignment_abs_mean": 0.4862858125384979, "alignment_min": -0.9570663117875449, "alignment_max": 0.1983379409385727, "door_contact_steps": 8, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.443420075235846, "score_before_reliability": 0.721710037617923, "median_path_length": 1.1345250902113406, "door_quality": 0.6472245560388568, "door_open_delta": 0.1758631467819214, "step_quality_mean": 0.49603508005550967, "alignment_abs_mean": 0.4905204700622445, "alignment_signed_mean": -0.40892345964973864, "collision_count": 1.5, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.721710037617923, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077482171237571, 0.13303675695354777, 1.0409299934873009, 0.15529701990373637, 0.7455618054762374, 0.6336393802371338, 0.13609395885465406], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1067637613427115, "base_score": 0.50884019501749, "final_score": 0.754420097508745, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.020927739710995073, "door_open_delta": 0.1274430751800537, "door_quality": 0.7358713169396658, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6226733099138082, "step_quality_min": 0.4893032663421575, "step_quality_max": 0.9208700155813615, "alignment_signed_mean": 0.07807864265515382, "alignment_abs_mean": 0.20019579181370437, "alignment_min": -0.5803370291442721, "alignment_max": 0.1844945560964042, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.106677970592359, "base_score": 0.5082105566606054, "final_score": 0.5082105566606054, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11652731895446777, "door_quality": 0.7349397331848886, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6213424759784124, "step_quality_min": 0.4947098914845116, "step_quality_max": 0.9243935439964002, "alignment_signed_mean": 0.10837137205493906, "alignment_abs_mean": 0.17858779885188153, "alignment_min": -0.41954315011173116, "alignment_max": 0.18138207417294427, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5085253758390478, "score_before_reliability": 0.6313153270846752, "median_path_length": 1.1067208659675352, "door_quality": 0.7354055250622772, "door_open_delta": 0.12198519706726074, "step_quality_mean": 0.6220078929461104, "alignment_abs_mean": 0.18939179533279293, "alignment_signed_mean": 0.09322500735504644, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6313153270846752, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 187, "state": {"door_angle": 0.7268770933151245, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31088584661483765, -0.09493586421012878, 1.185969591140747, 0.16566066443920135, 0.8910889625549316, 0.41572296619415283, 0.07544189691543579], "right_arm_pose": [0.45448458194732666, -0.47448837757110596, 1.0707297325134277, -0.5636143684387207, 0.551824688911438, 0.5929939150810242, 0.16182266175746918], "left_arm_joint_positions": [-0.2701399326324463, 0.024822741746902466, -0.30939051508903503, -1.9451525211334229, 0.8783050775527954, 1.6850028038024902, 0.453102707862854], "right_arm_joint_positions": [0.42046332359313965, 0.009263038635253906, 0.6703963279724121, -2.3962621688842773, -0.9995118379592896, 1.3644635677337646, -2.5218300819396973], "pregrasp_goal_pose": [0.38774005727865657, 0.13304592316656558, 1.0409321044835413, 0.15530282747646854, 0.7455614404978514, 0.6336398514984788, 0.13608713684095436], "pregrasp_position_error": 0.2809237220458074, "pregrasp_orientation_error_deg": 30.938206311861116}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.4, "grasp_projected_count": 90, "grasp_visible_count": 36, "tray_visibility": 0.3776595744680851, "tray_projected_count": 188, "tray_visible_count": 71}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 2, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.5148559894997806, "strict_length": 0.0, "assisted_length": 1.1066476822670153, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.13583731651306152, "door_quality": 0.7445423598427869, "step_quality_mean": 0.6350605140611243, "step_quality_min": 0.4920782142190952, "step_quality_max": 0.9308106181783716, "alignment_signed_mean": 0.08994085336326593, "alignment_abs_mean": 0.1956741446399298, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.4077400572786566, 0.13304592316656558, 1.0409321044835413, 0.15530282747646854, 0.7455614404978514, 0.6336398514984788, 0.13608713684095436], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774005727865657, 0.13304592316656558, 1.0409321044835413, 0.15530282747646854, 0.7455614404978514, 0.6336398514984788, 0.13608713684095436], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193239248215767, "base_score": 0.5173542292891699, "final_score": 0.5173542292891699, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12371945381164551, "door_quality": 0.7513230941839429, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6447472774056329, "step_quality_min": 0.5056524426467174, "step_quality_max": 0.9394407577225284, "alignment_signed_mean": 0.13258581906579134, "alignment_abs_mean": 0.13258581906579134, "alignment_min": 0.07541961231861227, "alignment_max": 0.16880558158905462, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1177694723828742, "base_score": 0.5143030955514235, "final_score": 0.5143030955514235, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12351298332214355, "door_quality": 0.7465052097459112, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6378645853513017, "step_quality_min": 0.5052829273314337, "step_quality_max": 0.9323048154781608, "alignment_signed_mean": 0.1367192604658307, "alignment_abs_mean": 0.1367192604658307, "alignment_min": 0.07593837318739595, "alignment_max": 0.1651517565436408, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5158286624202967, "score_before_reliability": 0.5158286624202967, "median_path_length": 1.1185466986022254, "door_quality": 0.748914151964927, "door_open_delta": 0.12361621856689453, "step_quality_mean": 0.6413059313784673, "alignment_abs_mean": 0.134652539765811, "alignment_signed_mean": 0.134652539765811, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5158286624202967, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774005727865655, 0.13304592316656558, 1.0409321044835413, 0.15530282747646854, 0.7455614404978514, 0.6336398514984788, 0.13608713684095436], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345261593992864, "base_score": 0.40813588674850965, "final_score": 0.7040679433742548, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.00397136517900218, "door_open_delta": 0.19147944450378418, "door_quality": 0.595722861344345, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4224612304919215, "step_quality_min": 0.060173534457977684, "step_quality_max": 0.7567818705250063, "alignment_signed_mean": -0.5491577799840346, "alignment_abs_mean": 0.6239176620806501, "alignment_min": -0.9695751792066404, "alignment_max": 0.23126945259440168, "door_contact_steps": 8, "path_steps": 28}, {"path_found": true, "path_length": 1.1345980786222625, "base_score": 0.46259505876137746, "final_score": 0.46259505876137746, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13549518585205078, "door_quality": 0.675228686177257, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5360409802532243, "step_quality_min": 0.12963646511184268, "step_quality_max": 0.8613775286640543, "alignment_signed_mean": -0.3129171319837358, "alignment_abs_mean": 0.3921687967077379, "alignment_min": -0.9344534726962596, "alignment_max": 0.3091904250649121, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4353654727549435, "score_before_reliability": 0.5833315010678162, "median_path_length": 1.1345621190107744, "door_quality": 0.635475773760801, "door_open_delta": 0.16348731517791748, "step_quality_mean": 0.4792511053725729, "alignment_abs_mean": 0.508043229394194, "alignment_signed_mean": -0.4310374559838852, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.5833315010678162, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077400572786566, 0.13304592316656558, 1.0409321044835413, 0.15530282747646854, 0.7455614404978514, 0.6336398514984788, 0.13608713684095436], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066948538022698, "base_score": 0.5134526414366692, "final_score": 0.7567263207183346, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.037234426534387036, "door_open_delta": 0.13742446899414062, "door_quality": 0.7425246603504114, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6321780862148735, "step_quality_min": 0.4920782142190952, "step_quality_max": 0.9308106181783716, "alignment_signed_mean": 0.07204941706038154, "alignment_abs_mean": 0.21075925658441236, "alignment_min": -0.6059652156560776, "alignment_max": 0.1833083279899448, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1066005107317607, "base_score": 0.5162593375628921, "final_score": 0.758129668781446, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.02066473684546738, "door_open_delta": 0.13425016403198242, "door_quality": 0.7465600593351625, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.637942941907375, "step_quality_min": 0.494559526573834, "step_quality_max": 0.9296393485314088, "alignment_signed_mean": 0.10783228966615031, "alignment_abs_mean": 0.18058903269544724, "alignment_min": -0.5716342948396186, "alignment_max": 0.17935773489460546, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5148559894997806, "score_before_reliability": 0.7574279947498903, "median_path_length": 1.1066476822670153, "door_quality": 0.7445423598427869, "door_open_delta": 0.13583731651306152, "step_quality_mean": 0.6350605140611243, "alignment_abs_mean": 0.1956741446399298, "alignment_signed_mean": 0.08994085336326593, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7574279947498903, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 188, "state": {"door_angle": 0.7274709939956665, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31091931462287903, -0.0949058085680008, 1.1859031915664673, 0.1656598299741745, 0.8910910487174988, 0.41573265194892883, 0.07536591589450836], "right_arm_pose": [0.45817843079566956, -0.48450446128845215, 1.0746574401855469, -0.5813982486724854, 0.5391634106636047, 0.5891065001487732, 0.15566813945770264], "left_arm_joint_positions": [-0.27013182640075684, 0.024984151124954224, -0.3093738257884979, -1.9452834129333496, 0.8783048391342163, 1.685016393661499, 0.45309579372406006], "right_arm_joint_positions": [0.4241616725921631, -0.007018566131591797, 0.6862640380859375, -2.3959527015686035, -0.9983140230178833, 1.383131980895996, -2.5604710578918457], "pregrasp_goal_pose": [0.3877410297239457, 0.13304598936259884, 1.040932867931936, 0.15530105873960745, 0.7455652537831112, 0.6336353576771702, 0.13608918769324305], "pregrasp_position_error": 0.28085582213221627, "pregrasp_orientation_error_deg": 30.938809133722682}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.4, "grasp_projected_count": 90, "grasp_visible_count": 36, "tray_visibility": 0.2865853658536585, "tray_projected_count": 164, "tray_visible_count": 47}, "wrist_left": {"grasp_visibility": 0.6666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 60, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.40207525743074113, "strict_length": 0.0, "assisted_length": 1.1344793242203672, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.20157623291015625, "door_quality": 0.5868675083808245, "step_quality_mean": 0.4098107262583207, "step_quality_min": 0.06475265709517763, "step_quality_max": 0.8933099055341682, "alignment_signed_mean": -0.528888095123818, "alignment_abs_mean": 0.6212242807524326, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3677410297239457, 0.13304598936259884, 1.040932867931936, 0.15530105873960745, 0.7455652537831112, 0.6336353576771702, 0.13608918769324305], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877410297239457, 0.13304598936259884, 1.040932867931936, 0.15530105873960745, 0.7455652537831112, 0.6336353576771702, 0.13608918769324305], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192955892867418, "base_score": 0.5171020731727818, "final_score": 0.5171020731727818, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12371277809143066, "door_quality": 0.750949809810445, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6442140140149215, "step_quality_min": 0.5095822932547891, "step_quality_max": 0.9354163892123492, "alignment_signed_mean": 0.13306182376849932, "alignment_abs_mean": 0.13306182376849932, "alignment_min": 0.07223481486548887, "alignment_max": 0.17096170956107012, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178247854677923, "base_score": 0.5166662434435745, "final_score": 0.5166662434435745, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12449312210083008, "door_quality": 0.7499491197726579, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6427844568180827, "step_quality_min": 0.5061889050043663, "step_quality_max": 0.933315318683176, "alignment_signed_mean": 0.13176360822915464, "alignment_abs_mean": 0.13176360822915464, "alignment_min": 0.05384908973734499, "alignment_max": 0.1673004055940793, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5168841583081781, "score_before_reliability": 0.5168841583081781, "median_path_length": 1.118560187377267, "door_quality": 0.7504494647915514, "door_open_delta": 0.12410295009613037, "step_quality_mean": 0.6434992354165021, "alignment_abs_mean": 0.13241271599882698, "alignment_signed_mean": 0.13241271599882698, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5168841583081781, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677410297239457, 0.13304598936259884, 1.040932867931936, 0.15530105873960745, 0.7455652537831112, 0.6336353576771702, 0.13608918769324305], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134486128623908, "base_score": 0.407611270039913, "final_score": 0.7038056350199565, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.005281850513328821, "door_open_delta": 0.20129728317260742, "door_quality": 0.5949491820598776, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.42135597437125366, "step_quality_min": 0.08315808953046622, "step_quality_max": 0.8933099055341682, "alignment_signed_mean": -0.5222230073901699, "alignment_abs_mean": 0.6189642435656465, "alignment_min": -0.9579537749565057, "alignment_max": 0.38733232418552105, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1344725198168266, "base_score": 0.3965392448215692, "final_score": 0.6982696224107846, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.003911394058438829, "door_open_delta": 0.20185518264770508, "door_quality": 0.5787858347017714, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.3982654781453877, "step_quality_min": 0.06475265709517763, "step_quality_max": 0.8904230283842335, "alignment_signed_mean": -0.535553182857466, "alignment_abs_mean": 0.6234843179392187, "alignment_min": -0.9672598924799664, "alignment_max": 0.37013444939435697, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.40207525743074113, "score_before_reliability": 0.7010376287153706, "median_path_length": 1.1344793242203672, "door_quality": 0.5868675083808245, "door_open_delta": 0.20157623291015625, "step_quality_mean": 0.4098107262583207, "alignment_abs_mean": 0.6212242807524326, "alignment_signed_mean": -0.528888095123818, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7010376287153706, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077410297239457, 0.13304598936259884, 1.040932867931936, 0.15530105873960745, 0.7455652537831112, 0.6336353576771702, 0.13608918769324305], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106620320111223, "base_score": 0.5073772452367172, "final_score": 0.5073772452367172, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12308073043823242, "door_quality": 0.7337205546499037, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6196007923570054, "step_quality_min": 0.4787113574840089, "step_quality_max": 0.9244204707511949, "alignment_signed_mean": 0.06724014737217406, "alignment_abs_mean": 0.2067886023699742, "alignment_min": -0.602552973100771, "alignment_max": 0.18402905636283934, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.106657593085032, "base_score": 0.5124960476132439, "final_score": 0.7562480238066219, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.02846186938357872, "door_open_delta": 0.1326911449432373, "door_quality": 0.7411320861840689, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6301886945486699, "step_quality_min": 0.4925825331977403, "step_quality_max": 0.9255202853267486, "alignment_signed_mean": 0.07596730233835598, "alignment_abs_mean": 0.20030629516428775, "alignment_min": -0.5949104109805554, "alignment_max": 0.1790291113370994, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5099366464249806, "score_before_reliability": 0.6318126345216696, "median_path_length": 1.1066389565981276, "door_quality": 0.7374263204169863, "door_open_delta": 0.12788593769073486, "step_quality_mean": 0.6248947434528376, "alignment_abs_mean": 0.203547448767131, "alignment_signed_mean": 0.07160372485526502, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6318126345216696, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 189, "state": {"door_angle": 0.7244664430618286, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31091222167015076, -0.094895139336586, 1.1859538555145264, 0.16562741994857788, 0.8910903334617615, 0.4157373905181885, 0.07541900873184204], "right_arm_pose": [0.4616420865058899, -0.49333834648132324, 1.078183650970459, -0.5967998504638672, 0.5271120071411133, 0.5860201716423035, 0.1502108871936798], "left_arm_joint_positions": [-0.27013278007507324, 0.024859458208084106, -0.30934593081474304, -1.9451465606689453, 0.8783267736434937, 1.6849699020385742, 0.4530600309371948], "right_arm_joint_positions": [0.42742037773132324, -0.021267414093017578, 0.6999666690826416, -2.395641803741455, -0.9975491762161255, 1.3993515968322754, -2.5945181846618652], "pregrasp_goal_pose": [0.38774030522011904, 0.13304498886091792, 1.0409298691088589, 0.15530030378653814, 0.7455569022984148, 0.633645165794046, 0.1360901353693083], "pregrasp_position_error": 0.28087579656788986, "pregrasp_orientation_error_deg": 30.938261228686425}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.40131578947368424, "tray_projected_count": 152, "tray_visible_count": 61}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.38933878638489217, "strict_length": 0.0, "assisted_length": 1.1345320241348151, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.1404803991317749, "door_quality": 0.5682871947874626, "step_quality_mean": 0.3832674211249466, "step_quality_min": 0.07004202363827672, "step_quality_max": 0.6407461820590424, "alignment_signed_mean": -0.5091606910806604, "alignment_abs_mean": 0.5934659466056871, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.367740305220119, 0.13304498886091792, 1.0409298691088589, 0.15530030378653814, 0.7455569022984148, 0.633645165794046, 0.1360901353693083], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774030522011904, 0.13304498886091792, 1.0409298691088589, 0.15530030378653814, 0.7455569022984148, 0.633645165794046, 0.1360901353693083], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192776307155483, "base_score": 0.5143669342954394, "final_score": 0.5143669342954394, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12935829162597656, "door_quality": 0.746973294596402, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.63853327799486, "step_quality_min": 0.4158457305370091, "step_quality_max": 0.9390756441134714, "alignment_signed_mean": 0.05340516736483587, "alignment_abs_mean": 0.1869569555177386, "alignment_min": -0.6148413952522808, "alignment_max": 0.3069237824383182, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.117754322813064, "base_score": 0.5184260537935296, "final_score": 0.5184260537935296, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12929105758666992, "door_quality": 0.7524858377164501, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6464083395949286, "step_quality_min": 0.5061545723708375, "step_quality_max": 0.9347741897558687, "alignment_signed_mean": 0.08301868870065889, "alignment_abs_mean": 0.1671866582409513, "alignment_min": -0.5134246141957838, "alignment_max": 0.17155165193029662, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5163964940444845, "score_before_reliability": 0.5163964940444845, "median_path_length": 1.1185159767643063, "door_quality": 0.749729566156426, "door_open_delta": 0.12932467460632324, "step_quality_mean": 0.6424708087948943, "alignment_abs_mean": 0.17707180687934496, "alignment_signed_mean": 0.06821192803274738, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5163964940444845, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.367740305220119, 0.13304498886091792, 1.0409298691088589, 0.15530030378653814, 0.7455569022984148, 0.633645165794046, 0.1360901353693083], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345542631525536, "base_score": 0.37323628951837284, "final_score": 0.6866181447591864, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.005255217545823356, "door_open_delta": 0.1416780948638916, "door_quality": 0.544787852506405, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.3496969321520072, "step_quality_min": 0.07004202363827672, "step_quality_max": 0.6284568668323145, "alignment_signed_mean": -0.5576318862980832, "alignment_abs_mean": 0.6340795335569035, "alignment_min": -0.9645854936660397, "alignment_max": 0.20878158451991885, "door_contact_steps": 6, "path_steps": 28}, {"path_found": true, "path_length": 1.134509785117077, "base_score": 0.4054412832514115, "final_score": 0.7027206416257057, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.003987013529239795, "door_open_delta": 0.1392827033996582, "door_quality": 0.5917865370685202, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.41683791009788607, "step_quality_min": 0.10384602851590274, "step_quality_max": 0.6407461820590424, "alignment_signed_mean": -0.46068949586323754, "alignment_abs_mean": 0.5528523596544707, "alignment_min": -0.947493581087465, "alignment_max": 0.20595180765293672, "door_contact_steps": 7, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.38933878638489217, "score_before_reliability": 0.694669393192446, "median_path_length": 1.1345320241348151, "door_quality": 0.5682871947874626, "door_open_delta": 0.1404803991317749, "step_quality_mean": 0.3832674211249466, "alignment_abs_mean": 0.5934659466056871, "alignment_signed_mean": -0.5091606910806604, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.694669393192446, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774030522011906, 0.13304498886091792, 1.0409298691088589, 0.15530030378653814, 0.7455569022984148, 0.633645165794046, 0.1360901353693083], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1065829155772435, "base_score": 0.5031376190176152, "final_score": 0.5031376190176152, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11018109321594238, "door_quality": 0.7275805401257744, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6108293430368207, "step_quality_min": 0.48825921432100333, "step_quality_max": 0.94833375257708, "alignment_signed_mean": 0.1554444408859475, "alignment_abs_mean": 0.1554444408859475, "alignment_min": 0.0861104123715334, "alignment_max": 0.18017483724616293, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1066418527223743, "base_score": 0.5067739429002915, "final_score": 0.5067739429002915, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11990690231323242, "door_quality": 0.7328533764455902, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6183619663508432, "step_quality_min": 0.44525204803804097, "step_quality_max": 0.9291474967684024, "alignment_signed_mean": 0.0686071555496328, "alignment_abs_mean": 0.20477891313095203, "alignment_min": -0.6212643664225123, "alignment_max": 0.17756193293551725, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5049557809589533, "score_before_reliability": 0.5049557809589533, "median_path_length": 1.106612384149809, "door_quality": 0.7302169582856823, "door_open_delta": 0.1150439977645874, "step_quality_mean": 0.6145956546938319, "alignment_abs_mean": 0.18011167700844977, "alignment_signed_mean": 0.11202579821779016, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5049557809589533, "source": "assisted"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 190, "state": {"door_angle": 0.7294970750808716, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.3109264075756073, -0.09492984414100647, 1.1859288215637207, 0.1656491458415985, 0.8910927176475525, 0.41572853922843933, 0.07539203017950058], "right_arm_pose": [0.4645368158817291, -0.5003659725189209, 1.080969214439392, -0.6089374423027039, 0.5168943405151367, 0.5837336182594299, 0.1458444744348526], "left_arm_joint_positions": [-0.2701272964477539, 0.025002270936965942, -0.30936071276664734, -1.9452040195465088, 0.8783141374588013, 1.6849963665008545, 0.4530888795852661], "right_arm_joint_positions": [0.42992401123046875, -0.03242826461791992, 0.7109942436218262, -2.3954029083251953, -0.9970823526382446, 1.4125919342041016, -2.6217093467712402], "pregrasp_goal_pose": [0.38774036146103363, 0.13304433952920824, 1.0409321511755134, 0.1553024867199381, 0.7455615757812801, 0.6336396900460001, 0.136087536297585], "pregrasp_position_error": 0.2808854683946459, "pregrasp_orientation_error_deg": 30.939156361716208}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.3333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 30, "tray_visibility": 0.3125, "tray_projected_count": 144, "tray_visible_count": 45}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.4280633549567755, "strict_length": 0.0, "assisted_length": 1.1345316012903626, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.26309263706207275, "door_quality": 0.624810435644476, "step_quality_mean": 0.46401490806353723, "step_quality_min": 0.06618711224701046, "step_quality_max": 0.868117505123821, "alignment_signed_mean": -0.5648101304778601, "alignment_abs_mean": 0.6427743111040938, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3677403614610336, 0.13304433952920824, 1.0409321511755134, 0.1553024867199381, 0.7455615757812801, 0.6336396900460001, 0.136087536297585], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774036146103363, 0.13304433952920824, 1.0409321511755134, 0.1553024867199381, 0.7455615757812801, 0.6336396900460001, 0.136087536297585], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193029023177221, "base_score": 0.41667975981219335, "final_score": 0.7083398799060967, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.00285995078418712, "door_open_delta": 0.18089771270751953, "door_quality": 0.6051152478012872, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4358789254304104, "step_quality_min": 0.06539441327664497, "step_quality_max": 0.916628706434123, "alignment_signed_mean": -0.4851121487170656, "alignment_abs_mean": 0.5447683551824947, "alignment_min": -0.9669354090174267, "alignment_max": 0.33603345298598863, "door_contact_steps": 8, "path_steps": 28}, {"path_found": true, "path_length": 1.1177242951614694, "base_score": 0.4174272611186602, "final_score": 0.7087136305593301, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.0028144382936928867, "door_open_delta": 0.21142578125, "door_quality": 0.6058818919489914, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.436974131355702, "step_quality_min": 0.06172154627893989, "step_quality_max": 0.7907704512896894, "alignment_signed_mean": -0.48570543951098366, "alignment_abs_mean": 0.5563916207456236, "alignment_min": -0.968792476600536, "alignment_max": 0.3002754017378651, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.41705351046542677, "score_before_reliability": 0.7085267552327135, "median_path_length": 1.1185135987395958, "door_quality": 0.6054985698751394, "door_open_delta": 0.19616174697875977, "step_quality_mean": 0.4364265283930562, "alignment_abs_mean": 0.5505799879640592, "alignment_signed_mean": -0.4854087941140246, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7085267552327135, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677403614610336, 0.13304433952920824, 1.0409321511755134, 0.1553024867199381, 0.7455615757812801, 0.6336396900460001, 0.136087536297585], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345644572698634, "base_score": 0.42376570858621854, "final_score": 0.7118828542931093, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.0033429960158389044, "door_open_delta": 0.26172542572021484, "door_quality": 0.6185443412409857, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.45506334462997966, "step_quality_min": 0.06618711224701046, "step_quality_max": 0.868117505123821, "alignment_signed_mean": -0.5871113747411029, "alignment_abs_mean": 0.6595309945991316, "alignment_min": -0.9665346061672421, "alignment_max": 0.33583523112800084, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.1344987453108617, "base_score": 0.4323610013273325, "final_score": 0.7161805006636662, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.003877462381841203, "door_open_delta": 0.26445984840393066, "door_quality": 0.6310765300479664, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4729664714970948, "step_quality_min": 0.08414222857217368, "step_quality_max": 0.855782937485361, "alignment_signed_mean": -0.5425088862146175, "alignment_abs_mean": 0.626017627609056, "alignment_min": -0.9574561765646314, "alignment_max": 0.31157484827775417, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4280633549567755, "score_before_reliability": 0.7140316774783877, "median_path_length": 1.1345316012903626, "door_quality": 0.624810435644476, "door_open_delta": 0.26309263706207275, "step_quality_mean": 0.46401490806353723, "alignment_abs_mean": 0.6427743111040938, "alignment_signed_mean": -0.5648101304778601, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7140316774783877, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774036146103365, 0.13304433952920824, 1.0409321511755134, 0.1553024867199381, 0.7455615757812801, 0.6336396900460001, 0.136087536297585], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066264594832507, "base_score": 0.5173175971015265, "final_score": 0.5173175971015265, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1151278018951416, "door_quality": 0.7480968738871148, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6401383912673069, "step_quality_min": 0.47682347210942955, "step_quality_max": 0.9239580877839904, "alignment_signed_mean": 0.14864929315740613, "alignment_abs_mean": 0.14864929315740613, "alignment_min": 0.07191557408064737, "alignment_max": 0.20529421315095078, "door_contact_steps": 16, "path_steps": 28}, {"path_found": true, "path_length": 1.1066961286218817, "base_score": 0.5020181594372181, "final_score": 0.5020181594372181, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11500740051269531, "door_quality": 0.7259891013197235, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6085558590281765, "step_quality_min": 0.4783392539635441, "step_quality_max": 0.925214044164997, "alignment_signed_mean": 0.15730674717360116, "alignment_abs_mean": 0.15730674717360116, "alignment_min": 0.09516508391569296, "alignment_max": 0.20276791006075984, "door_contact_steps": 20, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5096678782693722, "score_before_reliability": 0.5096678782693722, "median_path_length": 1.1066612940525662, "door_quality": 0.7370429876034191, "door_open_delta": 0.11506760120391846, "step_quality_mean": 0.6243471251477417, "alignment_abs_mean": 0.15297802016550366, "alignment_signed_mean": 0.15297802016550366, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5096678782693722, "source": "assisted"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 191, "state": {"door_angle": 0.7269436120986938, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31087765097618103, -0.09492815285921097, 1.1859307289123535, 0.16564196348190308, 0.891079306602478, 0.4157554507255554, 0.07541833072900772], "right_arm_pose": [0.46671345829963684, -0.505391001701355, 1.0830681324005127, -0.6174831986427307, 0.5093334913253784, 0.5821936726570129, 0.14263398945331573], "left_arm_joint_positions": [-0.27013540267944336, 0.024822264909744263, -0.30936166644096375, -1.9453508853912354, 0.8783265352249146, 1.6849515438079834, 0.4530981779098511], "right_arm_joint_positions": [0.4316747188568115, -0.04056239128112793, 0.7187526226043701, -2.395254135131836, -0.9967037439346313, 1.4221642017364502, -2.6410908699035645], "pregrasp_goal_pose": [0.38773992041062977, 0.13304511512590317, 1.040930601397346, 0.15529756991533097, 0.745561993242703, 0.6336391636151871, 0.13609331116335818], "pregrasp_position_error": 0.2808997265178357, "pregrasp_orientation_error_deg": 30.93517729354562}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.4111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 37, "tray_visibility": 0.36, "tray_projected_count": 125, "tray_visible_count": 45}, "wrist_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.4119029541215613, "strict_length": 0.0, "assisted_length": 1.1344152411595785, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.21452152729034424, "door_quality": 0.6011991424322243, "step_quality_mean": 0.43028448918889184, "step_quality_min": 0.07120371025755257, "step_quality_max": 0.9207874747357343, "alignment_signed_mean": -0.5439149780190637, "alignment_abs_mean": 0.6199430228119616, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.36773992041062975, 0.13304511512590317, 1.040930601397346, 0.15529756991533097, 0.745561993242703, 0.6336391636151871, 0.13609331116335818], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38773992041062977, 0.13304511512590317, 1.040930601397346, 0.15529756991533097, 0.745561993242703, 0.6336391636151871, 0.13609331116335818], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1192272810348998, "base_score": 0.5474405390704552, "final_score": 0.5474405390704552, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.1304631233215332, "door_quality": 0.7949900602136106, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.7071286574480153, "step_quality_min": 0.5132672686517017, "step_quality_max": 0.9348342670555105, "alignment_signed_mean": 0.03991854618487343, "alignment_abs_mean": 0.16712173357896679, "alignment_min": -0.4775676982595908, "alignment_max": 0.1734531568563547, "door_contact_steps": 14, "path_steps": 28}, {"path_found": true, "path_length": 1.1177055104351956, "base_score": 0.5154369396405472, "final_score": 0.5154369396405472, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12310051918029785, "door_quality": 0.7481350209067932, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6401928870097047, "step_quality_min": 0.5045537740652435, "step_quality_max": 0.9345793416728251, "alignment_signed_mean": 0.13486235335103064, "alignment_abs_mean": 0.13486235335103064, "alignment_min": 0.0583816771440461, "alignment_max": 0.1662970904735526, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5314387393555011, "score_before_reliability": 0.5314387393555011, "median_path_length": 1.1184663957350476, "door_quality": 0.7715625405602019, "door_open_delta": 0.12678182125091553, "step_quality_mean": 0.67366077222886, "alignment_abs_mean": 0.15099204346499873, "alignment_signed_mean": 0.08739044976795203, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5314387393555011, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36773992041062975, 0.13304511512590317, 1.040930601397346, 0.15529756991533097, 0.745561993242703, 0.6336391636151871, 0.13609331116335818], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1344645416286026, "base_score": 0.4130118506107005, "final_score": 0.7065059253053503, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.003951967614405054, "door_open_delta": 0.21258807182312012, "door_quality": 0.6028275286836347, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.43261075526233533, "step_quality_min": 0.08351999827086354, "step_quality_max": 0.9207874747357343, "alignment_signed_mean": -0.5436363400233817, "alignment_abs_mean": 0.6226673976514788, "alignment_min": -0.9577707873911363, "alignment_max": 0.3067852361433, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1343659406905544, "base_score": 0.41079405763242205, "final_score": 0.705397028816211, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.0051372341200787075, "door_open_delta": 0.21645498275756836, "door_quality": 0.5995707561808138, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4279582231154483, "step_quality_min": 0.07120371025755257, "step_quality_max": 0.9151741515938476, "alignment_signed_mean": -0.5441936160147459, "alignment_abs_mean": 0.6172186479724444, "alignment_min": -0.9639981240270802, "alignment_max": 0.25060422630915474, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4119029541215613, "score_before_reliability": 0.7059514770607807, "median_path_length": 1.1344152411595785, "door_quality": 0.6011991424322243, "door_open_delta": 0.21452152729034424, "step_quality_mean": 0.43028448918889184, "alignment_abs_mean": 0.6199430228119616, "alignment_signed_mean": -0.5439149780190637, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7059514770607807, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077399204106298, 0.13304511512590317, 1.040930601397346, 0.15529756991533097, 0.745561993242703, 0.6336391636151871, 0.13609331116335818], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.106634464970447, "base_score": 0.5050370651998096, "final_score": 0.5050370651998096, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11567139625549316, "door_quality": 0.7303398531065513, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6147712187236447, "step_quality_min": 0.4437552265123576, "step_quality_max": 0.9367962492250939, "alignment_signed_mean": 0.16510451615934177, "alignment_abs_mean": 0.16839039926401184, "alignment_min": -0.07130366337134103, "alignment_max": 0.26040795581273735, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.106601626520793, "base_score": 0.5078399963839044, "final_score": 0.5078399963839044, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11556673049926758, "door_quality": 0.7343851650873268, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6205502358390382, "step_quality_min": 0.49252077946559414, "step_quality_max": 0.9254660237636099, "alignment_signed_mean": 0.12217002039179004, "alignment_abs_mean": 0.16734549127054474, "alignment_min": -0.2654058914126839, "alignment_max": 0.18135005410606295, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5064385307918571, "score_before_reliability": 0.5064385307918571, "median_path_length": 1.1066180457456198, "door_quality": 0.732362509096939, "door_open_delta": 0.11561906337738037, "step_quality_mean": 0.6176607272813415, "alignment_abs_mean": 0.16786794526727827, "alignment_signed_mean": 0.1436372682755659, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5064385307918571, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 192, "state": {"door_angle": 0.7249864339828491, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31089138984680176, -0.09491324424743652, 1.1860032081604004, 0.1656332165002823, 0.8910834193229675, 0.41574257612228394, 0.07545918226242065], "right_arm_pose": [0.46802669763565063, -0.5083638429641724, 1.0842869281768799, -0.6225506663322449, 0.5046603083610535, 0.5813196897506714, 0.14076976478099823], "left_arm_joint_positions": [-0.2701301574707031, 0.024671107530593872, -0.30936023592948914, -1.945420742034912, 0.878311038017273, 1.684985876083374, 0.45311033725738525], "right_arm_joint_positions": [0.4327867031097412, -0.045362234115600586, 0.7233126163482666, -2.395179271697998, -0.9965304136276245, 1.4278373718261719, -2.6525864601135254], "pregrasp_goal_pose": [0.3877359244967803, 0.13304687027430456, 1.0409321283467607, 0.15530022668040752, 0.7455642328610537, 0.6336365512781889, 0.13609017288403152], "pregrasp_position_error": 0.2809208331837147, "pregrasp_orientation_error_deg": 30.935058951257936}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.4666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 42, "tray_visibility": 0.47540983606557374, "tray_projected_count": 122, "tray_visible_count": 58}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.40099566722887775, "strict_length": 0.0, "assisted_length": 1.1345744570086116, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.17972934246063232, "door_quality": 0.585310236552341, "step_quality_mean": 0.4075860522176301, "step_quality_min": 0.05666547831841906, "step_quality_max": 0.9313098699626671, "alignment_signed_mean": -0.4731802342734529, "alignment_abs_mean": 0.5696473157799584, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3677359244967803, 0.13304687027430456, 1.0409321283467607, 0.15530022668040752, 0.7455642328610537, 0.6336365512781889, 0.13609017288403152], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877359244967803, 0.13304687027430456, 1.0409321283467607, 0.15530022668040752, 0.7455642328610537, 0.6336365512781889, 0.13609017288403152], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193738711607442, "base_score": 0.5168235436306782, "final_score": 0.5168235436306782, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12237238883972168, "door_quality": 0.7505649065256312, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6436641521794734, "step_quality_min": 0.5084325167411539, "step_quality_max": 0.9371848059067107, "alignment_signed_mean": 0.13246013311590882, "alignment_abs_mean": 0.13246013311590882, "alignment_min": 0.06988388869536152, "alignment_max": 0.16594394842062313, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178940104416581, "base_score": 0.5200492961644482, "final_score": 0.7600246480822241, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.0075639172937555935, "door_open_delta": 0.13338875770568848, "door_quality": 0.7548770922025785, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6498244174322549, "step_quality_min": 0.5057280518138902, "step_quality_max": 0.9403909636059871, "alignment_signed_mean": 0.10011260119101315, "alignment_abs_mean": 0.1507713716712884, "alignment_min": -0.49814457638937326, "alignment_max": 0.17667928102391234, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5184364198975632, "score_before_reliability": 0.6384240958564511, "median_path_length": 1.1186339408012012, "door_quality": 0.7527209993641049, "door_open_delta": 0.12788057327270508, "step_quality_mean": 0.6467442848058642, "alignment_abs_mean": 0.1416157523935986, "alignment_signed_mean": 0.11628636715346098, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6384240958564511, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677359244967803, 0.13304687027430456, 1.0409321283467607, 0.15530022668040752, 0.7455642328610537, 0.6336365512781889, 0.13609017288403152], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1345971460720352, "base_score": 0.3966227729957471, "final_score": 0.6983113864978736, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.0053145536802444385, "door_open_delta": 0.15255236625671387, "door_quality": 0.5789318013596969, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.39847400194242416, "step_quality_min": 0.09658755479510384, "step_quality_max": 0.899889998769618, "alignment_signed_mean": -0.43746748996594936, "alignment_abs_mean": 0.5412075536021517, "alignment_min": -0.9511635958901162, "alignment_max": 0.2892738389912005, "door_contact_steps": 7, "path_steps": 28}, {"path_found": true, "path_length": 1.1345517679451878, "base_score": 0.4053685614620084, "final_score": 0.7026842807310042, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.003906865486084362, "door_open_delta": 0.20690631866455078, "door_quality": 0.5916886717449852, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.416698102492836, "step_quality_min": 0.05666547831841906, "step_quality_max": 0.9313098699626671, "alignment_signed_mean": -0.5088929785809564, "alignment_abs_mean": 0.5980870779577653, "alignment_min": -0.9713489154569791, "alignment_max": 0.32212751709886855, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.40099566722887775, "score_before_reliability": 0.700497833614439, "median_path_length": 1.1345744570086116, "door_quality": 0.585310236552341, "door_open_delta": 0.17972934246063232, "step_quality_mean": 0.4075860522176301, "alignment_abs_mean": 0.5696473157799584, "alignment_signed_mean": -0.4731802342734529, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.700497833614439, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077359244967803, 0.13304687027430456, 1.0409321283467607, 0.15530022668040752, 0.7455642328610537, 0.6336365512781889, 0.13609017288403152], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1068030238814832, "base_score": 0.5085457700504451, "final_score": 0.5085457700504451, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11857938766479492, "door_quality": 0.7354551525060897, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.622078789294414, "step_quality_min": 0.49221740282156223, "step_quality_max": 0.9273697927261246, "alignment_signed_mean": 0.07591731133607467, "alignment_abs_mean": 0.19616636927054498, "alignment_min": -0.5815143814989472, "alignment_max": 0.18322768295413575, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.106873835730711, "base_score": 0.5250035504162209, "final_score": 0.7625017752081105, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.028778060949423985, "door_open_delta": 0.13006830215454102, "door_quality": 0.7592741950894322, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6561059929849031, "step_quality_min": 0.4985876174831979, "step_quality_max": 0.9220930258721625, "alignment_signed_mean": 0.038862061671650405, "alignment_abs_mean": 0.21132170521660615, "alignment_min": -0.6000189342679175, "alignment_max": 0.1786180846067466, "door_contact_steps": 16, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.516774660233333, "score_before_reliability": 0.6355237726292777, "median_path_length": 1.1068384298060971, "door_quality": 0.747364673797761, "door_open_delta": 0.12432384490966797, "step_quality_mean": 0.6390923911396585, "alignment_abs_mean": 0.20374403724357557, "alignment_signed_mean": 0.05738968650386254, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6355237726292777, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 193, "state": {"door_angle": 0.7259513139724731, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31091469526290894, -0.09492321312427521, 1.1859793663024902, 0.16565464437007904, 0.8910847902297974, 0.41573408246040344, 0.07544316351413727], "right_arm_pose": [0.4680919647216797, -0.5084495544433594, 1.084162950515747, -0.6229310035705566, 0.5042835474014282, 0.5812220573425293, 0.14084024727344513], "left_arm_joint_positions": [-0.27012014389038086, 0.024868518114089966, -0.3093831241130829, -1.945305347442627, 0.8782957792282104, 1.684995412826538, 0.4531034231185913], "right_arm_joint_positions": [0.43277907371520996, -0.04503989219665527, 0.7233693599700928, -2.395440101623535, -0.996498703956604, 1.4279353618621826, -2.652602195739746], "pregrasp_goal_pose": [0.38773990182903334, 0.13304478286517013, 1.0409325864858745, 0.15530099649777263, 0.745564460983149, 0.6336362888318358, 0.13608926659043855], "pregrasp_position_error": 0.2809093944576102, "pregrasp_orientation_error_deg": 30.93638611173777}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.4666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 42, "tray_visibility": 0.47540983606557374, "tray_projected_count": 122, "tray_visible_count": 58}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.5176524924131292, "strict_length": 0.0, "assisted_length": 1.1185589640348654, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.1319211721420288, "door_quality": 0.7515657009325357, "step_quality_mean": 0.645093858475051, "step_quality_min": 0.4757765374156295, "step_quality_max": 0.9347479961852608, "alignment_signed_mean": 0.060094846312743824, "alignment_abs_mean": 0.1733386124098006, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.38773990182903334, 0.13304478286517013, 1.0409325864858745, 0.15530099649777263, 0.745564460983149, 0.6336362888318358, 0.13608926659043855], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38773990182903334, 0.13304478286517013, 1.0409325864858745, 0.15530099649777263, 0.745564460983149, 0.6336362888318358, 0.13608926659043855], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193160621614153, "base_score": 0.5206448713578153, "final_score": 0.7603224356789077, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.01094218949297844, "door_open_delta": 0.13329696655273438, "door_quality": 0.7560999183083996, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6515713118691423, "step_quality_min": 0.5082483568471441, "step_quality_max": 0.9347479961852608, "alignment_signed_mean": 0.05809406377105617, "alignment_abs_mean": 0.1681938262754778, "alignment_min": -0.5767580218063231, "alignment_max": 0.166931469719841, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178018659083158, "base_score": 0.5146601134684429, "final_score": 0.5146601134684429, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13054537773132324, "door_quality": 0.7470314835566718, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6386164050809597, "step_quality_min": 0.4757765374156295, "step_quality_max": 0.9327990846112664, "alignment_signed_mean": 0.06209562885443147, "alignment_abs_mean": 0.17848339854412343, "alignment_min": -0.6149296532066121, "alignment_max": 0.16473527691852102, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5176524924131292, "score_before_reliability": 0.6374912745736753, "median_path_length": 1.1185589640348654, "door_quality": 0.7515657009325357, "door_open_delta": 0.1319211721420288, "step_quality_mean": 0.645093858475051, "alignment_abs_mean": 0.1733386124098006, "alignment_signed_mean": 0.060094846312743824, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6374912745736753, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677399018290333, 0.13304478286517013, 1.0409325864858745, 0.15530099649777263, 0.745564460983149, 0.6336362888318358, 0.13608926659043855], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.134520035720208, "base_score": 0.41273505645171726, "final_score": 0.41273505645171726, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13726139068603516, "door_quality": 0.602434666742691, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.43204952391812995, "step_quality_min": 0.07331817036815591, "step_quality_max": 0.6426228923473156, "alignment_signed_mean": -0.4530734690117523, "alignment_abs_mean": 0.5344920813233172, "alignment_min": -0.9629290149823931, "alignment_max": 0.2014122113420543, "door_contact_steps": 8, "path_steps": 28}, {"path_found": true, "path_length": 1.1345252576962293, "base_score": 0.4221236057070471, "final_score": 0.7110618028535236, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.026687150756208675, "door_open_delta": 0.2935967445373535, "door_quality": 0.6161394153619204, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4516277362313148, "step_quality_min": 0.04357087685940153, "step_quality_max": 0.9397685618955544, "alignment_signed_mean": -0.6240659389642013, "alignment_abs_mean": 0.6757552573636608, "alignment_min": -0.9779697813632239, "alignment_max": 0.2431954474787323, "door_contact_steps": 12, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4174293310793822, "score_before_reliability": 0.5618984296526204, "median_path_length": 1.1345226467082186, "door_quality": 0.6092870410523057, "door_open_delta": 0.21542906761169434, "step_quality_mean": 0.44183863007472235, "alignment_abs_mean": 0.6051236693434889, "alignment_signed_mean": -0.5385697039879768, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.5618984296526204, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40773990182903336, 0.13304478286517013, 1.0409325864858745, 0.15530099649777263, 0.745564460983149, 0.6336362888318358, 0.13608926659043855], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066654770772146, "base_score": 0.5125943260253775, "final_score": 0.7562971630126887, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.037873079472946145, "door_open_delta": 0.13678526878356934, "door_quality": 0.7412761568803131, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6303945098290188, "step_quality_min": 0.49313436013715994, "step_quality_max": 0.9269997642163883, "alignment_signed_mean": 0.06723159582610705, "alignment_abs_mean": 0.2139983872146616, "alignment_min": -0.6154028923146518, "alignment_max": 0.1833554793354221, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1066925396090546, "base_score": 0.5067958827424527, "final_score": 0.5067958827424527, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11307072639465332, "door_quality": 0.7328974866387428, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6184249809124897, "step_quality_min": 0.49560040279273826, "step_quality_max": 0.9342926334304267, "alignment_signed_mean": 0.15613436535814085, "alignment_abs_mean": 0.15613436535814085, "alignment_min": 0.02165123035748329, "alignment_max": 0.18022818284389144, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5096951043839151, "score_before_reliability": 0.6315465228775707, "median_path_length": 1.1066790083431346, "door_quality": 0.7370868217595279, "door_open_delta": 0.12492799758911133, "step_quality_mean": 0.6244097453707542, "alignment_abs_mean": 0.1850663762864012, "alignment_signed_mean": 0.11168298059212395, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6315465228775707, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 194, "state": {"door_angle": 0.7269061803817749, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.31094253063201904, -0.09493544697761536, 1.1860182285308838, 0.16563373804092407, 0.8910866379737854, 0.41573232412338257, 0.07547691464424133], "right_arm_pose": [0.4685286581516266, -0.5094484090805054, 1.0847082138061523, -0.6245443820953369, 0.5027831792831421, 0.5809630155563354, 0.14012661576271057], "left_arm_joint_positions": [-0.2701420783996582, 0.02506878972053528, -0.3093847930431366, -1.9451265335083008, 0.8783305883407593, 1.6850090026855469, 0.4531034231185913], "right_arm_joint_positions": [0.4331531524658203, -0.04720878601074219, 0.7250087261199951, -2.3952460289001465, -0.9964407682418823, 1.430009365081787, -2.656937599182129], "pregrasp_goal_pose": [0.38773967290550515, 0.13304517698843532, 1.040932598234379, 0.15530395515770187, 0.7455624930551982, 0.6336386228795493, 0.13608580402451984], "pregrasp_position_error": 0.28093203107488113, "pregrasp_orientation_error_deg": 30.935932413592028}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.45555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 41, "tray_visibility": 0.39344262295081966, "tray_projected_count": 122, "tray_visible_count": 48}, "wrist_left": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.7708333333333334, "tray_projected_count": 288, "tray_visible_count": 222}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.4343971114593046, "strict_length": 0.0, "assisted_length": 1.1346543113933052, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.17635154724121094, "door_quality": 0.6340810098683953, "step_quality_mean": 0.4772585855262792, "step_quality_min": 0.07580641649412678, "step_quality_max": 0.9708706098306642, "alignment_signed_mean": -0.42101003307769824, "alignment_abs_mean": 0.5071915685124996, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.36773967290550513, 0.13304517698843532, 1.040932598234379, 0.15530395515770187, 0.7455624930551982, 0.6336386228795493, 0.13608580402451984], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38773967290550515, 0.13304517698843532, 1.040932598234379, 0.15530395515770187, 0.7455624930551982, 0.6336386228795493, 0.13608580402451984], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1193583911828786, "base_score": 0.5174950386762598, "final_score": 0.5174950386762598, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12398600578308105, "door_quality": 0.751536217558357, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6450517393690814, "step_quality_min": 0.5057567236767339, "step_quality_max": 0.9394309107707034, "alignment_signed_mean": 0.13352563494669942, "alignment_abs_mean": 0.13352563494669942, "alignment_min": 0.0783433432120662, "alignment_max": 0.16976740797105738, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1178436729418004, "base_score": 0.5165202414956497, "final_score": 0.5165202414956497, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13185644149780273, "door_quality": 0.7497419158943084, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6424884512775836, "step_quality_min": 0.48694279303440285, "step_quality_max": 0.9319102689794598, "alignment_signed_mean": 0.06349873552623994, "alignment_abs_mean": 0.17822760166469986, "alignment_min": -0.614563827550032, "alignment_max": 0.17174882369409641, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5170076400859547, "score_before_reliability": 0.5170076400859547, "median_path_length": 1.1186010320623394, "door_quality": 0.7506390667263327, "door_open_delta": 0.1279212236404419, "step_quality_mean": 0.6437700953233325, "alignment_abs_mean": 0.15587661830569965, "alignment_signed_mean": 0.09851218523646968, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5170076400859547, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36773967290550513, 0.13304517698843532, 1.040932598234379, 0.15530395515770187, 0.7455624930551982, 0.6336386228795493, 0.13608580402451984], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1346298145535874, "base_score": 0.4610410341824366, "final_score": 0.4610410341824366, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13437628746032715, "door_quality": 0.672967467170126, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5328106673858944, "step_quality_min": 0.08444814540269974, "step_quality_max": 0.9708706098306642, "alignment_signed_mean": -0.3016276664130852, "alignment_abs_mean": 0.3829898740967175, "alignment_min": -0.9573014995154888, "alignment_max": 0.1987658870589853, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.1346788082330233, "base_score": 0.4077531887361726, "final_score": 0.7038765943680863, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.00529994500639976, "door_open_delta": 0.21832680702209473, "door_quality": 0.5951945525666648, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.421706503666664, "step_quality_min": 0.07580641649412678, "step_quality_max": 0.905531413799819, "alignment_signed_mean": -0.5403923997423112, "alignment_abs_mean": 0.6313932629282817, "alignment_min": -0.9616709130085875, "alignment_max": 0.4329204209458785, "door_contact_steps": 10, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4343971114593046, "score_before_reliability": 0.5824588142752614, "median_path_length": 1.1346543113933052, "door_quality": 0.6340810098683953, "door_open_delta": 0.17635154724121094, "step_quality_mean": 0.4772585855262792, "alignment_abs_mean": 0.5071915685124996, "alignment_signed_mean": -0.42101003307769824, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.5824588142752614, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40773967290550517, 0.13304517698843532, 1.040932598234379, 0.15530395515770187, 0.7455624930551982, 0.6336386228795493, 0.13608580402451984], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1066629704912776, "base_score": 0.5077005946956354, "final_score": 0.5077005946956354, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11577868461608887, "door_quality": 0.7341985896566028, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6202836995094325, "step_quality_min": 0.49397388380416074, "step_quality_max": 0.9264705234420942, "alignment_signed_mean": 0.12031951475005613, "alignment_abs_mean": 0.16993014951960558, "alignment_min": -0.2914624792711031, "alignment_max": 0.1840568634682193, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1067232249293402, "base_score": 0.5090388085419215, "final_score": 0.5090388085419215, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11838436126708984, "door_quality": 0.7361485995903185, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6230694279861693, "step_quality_min": 0.49632903905807546, "step_quality_max": 0.9234656846755958, "alignment_signed_mean": 0.09444849234648277, "alignment_abs_mean": 0.1850899973868099, "alignment_min": -0.5597112936240202, "alignment_max": 0.18345789530059128, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5083697016187785, "score_before_reliability": 0.5083697016187785, "median_path_length": 1.1066930977103089, "door_quality": 0.7351735946234607, "door_open_delta": 0.11708152294158936, "step_quality_mean": 0.6216765637478009, "alignment_abs_mean": 0.17751007345320774, "alignment_signed_mean": 0.10738400354826945, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5083697016187785, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 195, "state": {"door_angle": 0.7272812128067017, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31113049387931824, -0.09423144161701202, 1.1856809854507446, 0.16555045545101166, 0.890709638595581, 0.41653862595558167, 0.07566449046134949], "right_arm_pose": [0.4686453938484192, -0.5100605487823486, 1.0850688219070435, -0.6252702474594116, 0.5021733045578003, 0.5807997584342957, 0.13975274562835693], "left_arm_joint_positions": [-0.2696213722229004, 0.0248277485370636, -0.30885049700737, -1.946791172027588, 0.8805373907089233, 1.6861741542816162, 0.4522894620895386], "right_arm_joint_positions": [0.43359923362731934, -0.047591209411621094, 0.7253882884979248, -2.394611358642578, -0.9964488744735718, 1.430534839630127, -2.6587095260620117], "pregrasp_goal_pose": [0.3877408096576085, 0.13304529309009408, 1.0409307082947075, 0.15529779435886717, 0.7455620843875259, 0.633639058152364, 0.1360930467539895], "pregrasp_position_error": 0.28013656912213947, "pregrasp_orientation_error_deg": 30.831903179999564}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.2975206611570248, "tray_projected_count": 121, "tray_visible_count": 36}, "wrist_left": {"grasp_visibility": 0.6, "grasp_projected_count": 90, "grasp_visible_count": 54, "tray_visibility": 0.7777777777777778, "tray_projected_count": 288, "tray_visible_count": 224}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.522462772548801, "strict_length": 0.0, "assisted_length": 1.1154600874261826, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.13433098793029785, "door_quality": 0.7577678749161199, "step_quality_mean": 0.6539541070230284, "step_quality_min": 0.47562143860746475, "step_quality_max": 0.9361866230331057, "alignment_signed_mean": 0.08453618000380875, "alignment_abs_mean": 0.15880117531603047, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3877408096576085, 0.13304529309009408, 1.0409307082947075, 0.15529779435886717, 0.7455620843875259, 0.633639058152364, 0.1360930467539895], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877408096576085, 0.13304529309009408, 1.0409307082947075, 0.15529779435886717, 0.7455620843875259, 0.633639058152364, 0.1360930467539895], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.116198053427821, "base_score": 0.5294996538950335, "final_score": 0.7647498269475168, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.004316453557446744, "door_open_delta": 0.13576769828796387, "door_quality": 0.7681603721144665, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6688005315920951, "step_quality_min": 0.5105399833148133, "step_quality_max": 0.9361866230331057, "alignment_signed_mean": 0.10858841228605383, "alignment_abs_mean": 0.13685427946482773, "alignment_min": -0.1581121945312665, "alignment_max": 0.16858879276335964, "door_contact_steps": 18, "path_steps": 28}, {"path_found": true, "path_length": 1.1147221214245442, "base_score": 0.5154258912025685, "final_score": 0.7577129456012843, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.012687989076128456, "door_open_delta": 0.13289427757263184, "door_quality": 0.7473753777177732, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6391076824539617, "step_quality_min": 0.47562143860746475, "step_quality_max": 0.9331150229306815, "alignment_signed_mean": 0.06048394772156368, "alignment_abs_mean": 0.1807480711672332, "alignment_min": -0.6144173852254381, "alignment_max": 0.16262778484853047, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.522462772548801, "score_before_reliability": 0.7612313862744006, "median_path_length": 1.1154600874261826, "door_quality": 0.7577678749161199, "door_open_delta": 0.13433098793029785, "step_quality_mean": 0.6539541070230284, "alignment_abs_mean": 0.15880117531603047, "alignment_signed_mean": 0.08453618000380875, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7612313862744006, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774080965760847, 0.13304529309009408, 1.0409307082947075, 0.15529779435886717, 0.7455620843875259, 0.633639058152364, 0.1360930467539895], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1313575222627315, "base_score": 0.4195245378017764, "final_score": 0.7097622689008882, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.0036455782910792, "door_open_delta": 0.2156674861907959, "door_quality": 0.6116995259374091, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4452850370534416, "step_quality_min": 0.07208366403228561, "step_quality_max": 0.9203953755844149, "alignment_signed_mean": -0.5423516139451477, "alignment_abs_mean": 0.6151911059173991, "alignment_min": -0.9635532035791814, "alignment_max": 0.2798734069912289, "door_contact_steps": 9, "path_steps": 28}, {"path_found": true, "path_length": 1.131215358039428, "base_score": 0.4010507684376404, "final_score": 0.7005253842188202, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.003553243793198857, "door_open_delta": 0.21100401878356934, "door_quality": 0.5847356179140272, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4067651684486103, "step_quality_min": 0.04469321927769543, "step_quality_max": 0.8652559894844568, "alignment_signed_mean": -0.5591319256604566, "alignment_abs_mean": 0.626989521335758, "alignment_min": -0.9774023048595922, "alignment_max": 0.3150599841925196, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4102876531197084, "score_before_reliability": 0.7051438265598542, "median_path_length": 1.1312864401510798, "door_quality": 0.5982175719257181, "door_open_delta": 0.21333575248718262, "step_quality_mean": 0.42602510275102595, "alignment_abs_mean": 0.6210903136265786, "alignment_signed_mean": -0.5507417698028021, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7051438265598542, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.4077408096576085, 0.13304529309009408, 1.0409307082947075, 0.15529779435886717, 0.7455620843875259, 0.633639058152364, 0.1360930467539895], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.103627456897135, "base_score": 0.5120879229759874, "final_score": 0.7560439614879937, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.03477265293636331, "door_open_delta": 0.13782191276550293, "door_quality": 0.739794284642703, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6282775494895758, "step_quality_min": 0.4805996972023882, "step_quality_max": 0.9265177202845297, "alignment_signed_mean": 0.07940659538535635, "alignment_abs_mean": 0.20261534522722685, "alignment_min": -0.6014068171280956, "alignment_max": 0.19900050466268626, "door_contact_steps": 20, "path_steps": 28}, {"path_found": true, "path_length": 1.1037343700636109, "base_score": 0.5127159971854892, "final_score": 0.7563579985927447, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.025299121240865263, "door_open_delta": 0.13564729690551758, "door_quality": 0.7407280373704825, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6296114819578322, "step_quality_min": 0.4753493530891639, "step_quality_max": 0.9255486339981331, "alignment_signed_mean": 0.08185062973802415, "alignment_abs_mean": 0.19516872562543933, "alignment_min": -0.5797252329051753, "alignment_max": 0.20775107818472682, "door_contact_steps": 20, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5124019600807384, "score_before_reliability": 0.7562009800403692, "median_path_length": 1.103680913480373, "door_quality": 0.7402611610065928, "door_open_delta": 0.13673460483551025, "step_quality_mean": 0.628944515723704, "alignment_abs_mean": 0.1988920354263331, "alignment_signed_mean": 0.08062861256169025, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7562009800403692, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 196, "state": {"door_angle": 0.7256861925125122, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.31113412976264954, -0.0941498875617981, 1.1855002641677856, 0.16559618711471558, 0.8906873464584351, 0.4165990948677063, 0.07549354434013367], "right_arm_pose": [0.46868711709976196, -0.5100426077842712, 1.0849595069885254, -0.6253805756568909, 0.5020512938499451, 0.580756425857544, 0.1398770660161972], "left_arm_joint_positions": [-0.26961255073547363, 0.02503851056098938, -0.3088028132915497, -1.9467716217041016, 0.8805049657821655, 1.6861562728881836, 0.45234763622283936], "right_arm_joint_positions": [0.4336233139038086, -0.04745984077453613, 0.7254123687744141, -2.394775390625, -0.9963945150375366, 1.4305481910705566, -2.658763885498047], "pregrasp_goal_pose": [0.3877477343785594, 0.1330392228949181, 1.040930608990826, 0.1553005739922581, 0.7455606919189566, 0.6336407147011586, 0.13608979041796845], "pregrasp_position_error": 0.2799730728486974, "pregrasp_orientation_error_deg": 30.82965688898241}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.2975206611570248, "tray_projected_count": 121, "tray_visible_count": 36}, "wrist_left": {"grasp_visibility": 0.6, "grasp_projected_count": 90, "grasp_visible_count": 54, "tray_visibility": 0.7777777777777778, "tray_projected_count": 288, "tray_visible_count": 224}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.5205850258751257, "strict_length": 0.0, "assisted_length": 1.1152095215041566, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.13414645195007324, "door_quality": 0.7549779462606596, "step_quality_mean": 0.6499684946580853, "step_quality_min": 0.4751641581913659, "step_quality_max": 0.9396373170012812, "alignment_signed_mean": 0.08516712519155785, "alignment_abs_mean": 0.1606558031774593, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3877477343785594, 0.1330392228949181, 1.040930608990826, 0.1553005739922581, 0.7455606919189566, 0.6336407147011586, 0.13608979041796845], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877477343785594, 0.1330392228949181, 1.040930608990826, 0.1553005739922581, 0.7455606919189566, 0.6336407147011586, 0.13608979041796845], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1159603197730317, "base_score": 0.51802885586809, "final_score": 0.7590144279340449, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.012914595188170447, "door_open_delta": 0.13226866722106934, "door_quality": 0.751459804152883, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6449425773612616, "step_quality_min": 0.4751641581913659, "step_quality_max": 0.9372687647318062, "alignment_signed_mean": 0.06036211349557807, "alignment_abs_mean": 0.17691807849925018, "alignment_min": -0.6189714715155576, "alignment_max": 0.16563545488067702, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1144587232352816, "base_score": 0.5231411958821615, "final_score": 0.7615705979410807, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.006540392857356249, "door_open_delta": 0.13602423667907715, "door_quality": 0.7584960883684362, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6549944119549088, "step_quality_min": 0.5057698727347211, "step_quality_max": 0.9396373170012812, "alignment_signed_mean": 0.10997213688753764, "alignment_abs_mean": 0.14439352785566845, "alignment_min": -0.23965039996203086, "alignment_max": 0.17186536644221437, "door_contact_steps": 19, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5205850258751257, "score_before_reliability": 0.7602925129375628, "median_path_length": 1.1152095215041566, "door_quality": 0.7549779462606596, "door_open_delta": 0.13414645195007324, "step_quality_mean": 0.6499684946580853, "alignment_abs_mean": 0.1606558031774593, "alignment_signed_mean": 0.08516712519155785, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7602925129375628, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677477343785594, 0.1330392228949181, 1.040930608990826, 0.1553005739922581, 0.7455606919189566, 0.6336407147011586, 0.13608979041796845], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.131115050691273, "base_score": 0.5263714200362406, "final_score": 0.5263714200362406, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13592910766601562, "door_quality": 0.7674285920996913, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6677551315709875, "step_quality_min": 0.5206095996822527, "step_quality_max": 0.9450591183232494, "alignment_signed_mean": 0.06723571108704997, "alignment_abs_mean": 0.14152162845842903, "alignment_min": -0.42342972901686077, "alignment_max": 0.16672238330928435, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.1310084254823862, "base_score": 0.4295126277129488, "final_score": 0.4295126277129488, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13579463958740234, "door_quality": 0.6261900695207312, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.46598581360104463, "step_quality_min": 0.08777391950827451, "step_quality_max": 0.7489998152614095, "alignment_signed_mean": -0.41103869437599955, "alignment_abs_mean": 0.49048874591337954, "alignment_min": -0.955619928338513, "alignment_max": 0.20132158411233964, "door_contact_steps": 8, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4779420238745947, "score_before_reliability": 0.4779420238745947, "median_path_length": 1.1310617380868297, "door_quality": 0.6968093308102112, "door_open_delta": 0.13586187362670898, "step_quality_mean": 0.5668704725860161, "alignment_abs_mean": 0.3160051871859043, "alignment_signed_mean": -0.1719014916444748, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.4779420238745947, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774773437855943, 0.1330392228949181, 1.040930608990826, 0.1553005739922581, 0.7455606919189566, 0.6336407147011586, 0.13608979041796845], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1034727126797246, "base_score": 0.504974604008802, "final_score": 0.752487302004401, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.029029800796958282, "door_open_delta": 0.13645005226135254, "door_quality": 0.7294803099784521, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6135432999692174, "step_quality_min": 0.36159048144543776, "step_quality_max": 0.9265124093425121, "alignment_signed_mean": 0.08135624567878585, "alignment_abs_mean": 0.20776442984386692, "alignment_min": -0.6018843493055347, "alignment_max": 0.41766246053039013, "door_contact_steps": 20, "path_steps": 28}, {"path_found": true, "path_length": 1.103526463030457, "base_score": 0.5043072036413154, "final_score": 0.5043072036413154, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11137628555297852, "door_quality": 0.7285292441252825, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6121846344646894, "step_quality_min": 0.4776902777209865, "step_quality_max": 0.9217681249382709, "alignment_signed_mean": 0.15469498270126758, "alignment_abs_mean": 0.15469498270126758, "alignment_min": 0.060237610091055806, "alignment_max": 0.20384953713168918, "door_contact_steps": 20, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5046409038250588, "score_before_reliability": 0.6283972528228582, "median_path_length": 1.1034995878550908, "door_quality": 0.7290047770518673, "door_open_delta": 0.12391316890716553, "step_quality_mean": 0.6128639672169534, "alignment_abs_mean": 0.18122970627256724, "alignment_signed_mean": 0.11802561419002672, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6283972528228582, "source": "assisted"}]}, "p_ext": {"initial_height": 1.047481894493103, "final_height": 1.047481894493103, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481894493103}], "score": 0.0007339318593343093}}
+{"frame_index": 197, "state": {"door_angle": 0.7257906198501587, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.31150609254837036, -0.09261016547679901, 1.1844079494476318, 0.16551919281482697, 0.8899152278900146, 0.41826894879341125, 0.07553442567586899], "right_arm_pose": [0.4687272012233734, -0.510125458240509, 1.084970235824585, -0.6255408525466919, 0.5019037127494812, 0.5807116627693176, 0.1398763507604599], "left_arm_joint_positions": [-0.2684476375579834, 0.024971753358840942, -0.3076290786266327, -1.9508776664733887, 0.8849674463272095, 1.688689947128296, 0.45060646533966064], "right_arm_joint_positions": [0.43372058868408203, -0.0475468635559082, 0.7254908084869385, -2.3947248458862305, -0.9963785409927368, 1.4306750297546387, -2.6591713428497314], "pregrasp_goal_pose": [0.38774000329864655, 0.13304532240763775, 1.0409294186181417, 0.15529704938952066, 0.7455589322234154, 0.6336427567354272, 0.13609394501416064], "pregrasp_position_error": 0.2780613190820205, "pregrasp_orientation_error_deg": 30.624179163142106}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.325, "tray_projected_count": 120, "tray_visible_count": 39}, "wrist_left": {"grasp_visibility": 0.4444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 40, "tray_visibility": 0.75, "tray_projected_count": 288, "tray_visible_count": 216}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.4241242787834687, "strict_length": 0.0, "assisted_length": 1.1242016323695163, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.22975564002990723, "door_quality": 0.6169329494519088, "step_quality_mean": 0.4527613563598697, "step_quality_min": 0.06823365172565565, "step_quality_max": 0.8657273306416025, "alignment_signed_mean": -0.5325765981538334, "alignment_abs_mean": 0.6033023391467838, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.36774000329864653, 0.13304532240763775, 1.0409294186181417, 0.15529704938952066, 0.7455589322234154, 0.6336427567354272, 0.13609394501416064], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774000329864655, 0.13304532240763775, 1.0409294186181417, 0.15529704938952066, 0.7455589322234154, 0.6336427567354272, 0.13609394501416064], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1092579327995788, "base_score": 0.5155219307390919, "final_score": 0.757760965369546, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.01257718595201014, "door_open_delta": 0.13182425498962402, "door_quality": 0.7461543553626402, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6373633648037718, "step_quality_min": 0.4636797442889538, "step_quality_max": 0.9380544249063639, "alignment_signed_mean": 0.049364614610822165, "alignment_abs_mean": 0.1833682393605057, "alignment_min": -0.6133694668069151, "alignment_max": 0.15755829851752493, "door_contact_steps": 19, "path_steps": 28}, {"path_found": true, "path_length": 1.107840888173193, "base_score": 0.512298193955297, "final_score": 0.512298193955297, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12252473831176758, "door_quality": 0.7411382363170079, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6301974804528685, "step_quality_min": 0.4858989864898761, "step_quality_max": 0.9344972561466935, "alignment_signed_mean": 0.13442171708510783, "alignment_abs_mean": 0.13442171708510783, "alignment_min": 0.05697403203203771, "alignment_max": 0.185669996963747, "door_contact_steps": 20, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5139100623471944, "score_before_reliability": 0.6350295796624215, "median_path_length": 1.1085494104863858, "door_quality": 0.743646295839824, "door_open_delta": 0.1271744966506958, "step_quality_mean": 0.6337804226283201, "alignment_abs_mean": 0.15889497822280677, "alignment_signed_mean": 0.091893165847965, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6350295796624215, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774000329864653, 0.13304532240763775, 1.0409294186181417, 0.15529704938952066, 0.7455589322234154, 0.6336427567354272, 0.13609394501416064], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1241838737118026, "base_score": 0.4279913170026356, "final_score": 0.7139956585013179, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.001917942779467747, "door_open_delta": 0.2565126419067383, "door_quality": 0.6225543077524291, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.46079186821775586, "step_quality_min": 0.06823365172565565, "step_quality_max": 0.8657273306416025, "alignment_signed_mean": -0.5742321600530657, "alignment_abs_mean": 0.6357767589384546, "alignment_min": -0.9654998390151179, "alignment_max": 0.37882567932919076, "door_contact_steps": 11, "path_steps": 28}, {"path_found": true, "path_length": 1.12421939102723, "base_score": 0.42025724056430175, "final_score": 0.7101286202821508, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.003161227131173179, "door_open_delta": 0.20299863815307617, "door_quality": 0.6113115911513884, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4447308445019835, "step_quality_min": 0.08128269151767276, "step_quality_max": 0.8165193913792461, "alignment_signed_mean": -0.4909210362546012, "alignment_abs_mean": 0.570827919355113, "alignment_min": -0.9589020099067948, "alignment_max": 0.4009769449444208, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.4241242787834687, "score_before_reliability": 0.7120621393917344, "median_path_length": 1.1242016323695163, "door_quality": 0.6169329494519088, "door_open_delta": 0.22975564002990723, "step_quality_mean": 0.4527613563598697, "alignment_abs_mean": 0.6033023391467838, "alignment_signed_mean": -0.5325765981538334, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7120621393917344, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774000329864657, 0.13304532240763775, 1.0409294186181417, 0.15529704938952066, 0.7455589322234154, 0.6336427567354272, 0.13609394501416064], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.097042344774369, "base_score": 0.5066945352602807, "final_score": 0.5066945352602807, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11211776733398438, "door_quality": 0.7303976479503089, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6148537827861558, "step_quality_min": 0.47994910183578876, "step_quality_max": 0.9263801991711524, "alignment_signed_mean": 0.1531336366723753, "alignment_abs_mean": 0.1531336366723753, "alignment_min": 0.06567603398121377, "alignment_max": 0.20008483027368537, "door_contact_steps": 19, "path_steps": 27}, {"path_found": true, "path_length": 1.0970201318286241, "base_score": 0.5098732994249875, "final_score": 0.5098732994249875, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11568427085876465, "door_quality": 0.7349743786532581, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6213919695046545, "step_quality_min": 0.4948246723707309, "step_quality_max": 0.9262288203939606, "alignment_signed_mean": 0.11784638275213268, "alignment_abs_mean": 0.176348211377615, "alignment_min": -0.32614769458706405, "alignment_max": 0.2055271536014282, "door_contact_steps": 19, "path_steps": 27}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5082839173426341, "score_before_reliability": 0.5082839173426341, "median_path_length": 1.0970312383014966, "door_quality": 0.7326860133017835, "door_open_delta": 0.11390101909637451, "step_quality_mean": 0.6181228761454052, "alignment_abs_mean": 0.16474092402499516, "alignment_signed_mean": 0.135490009712254, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5082839173426341, "source": "assisted"}]}, "p_ext": {"initial_height": 1.047481656074524, "final_height": 1.047481656074524, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481656074524}], "score": 0.000733137130737304}}
+{"frame_index": 198, "state": {"door_angle": 0.7250725030899048, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.31240978837013245, -0.08917079120874405, 1.1823132038116455, 0.16509942710399628, 0.8882356882095337, 0.42191052436828613, 0.0759681835770607], "right_arm_pose": [0.46875566244125366, -0.5101844072341919, 1.0850026607513428, -0.6256518959999084, 0.501794159412384, 0.580693244934082, 0.1398489773273468], "left_arm_joint_positions": [-0.2659311294555664, 0.024854928255081177, -0.30499574542045593, -1.958974838256836, 0.8947685956954956, 1.6942694187164307, 0.44653117656707764], "right_arm_joint_positions": [0.43378758430480957, -0.04769706726074219, 0.7255499362945557, -2.3947696685791016, -0.996374249458313, 1.4307575225830078, -2.6595067977905273], "pregrasp_goal_pose": [0.38774096843423145, 0.13304496485582903, 1.0409301697188391, 0.1552955665569502, 0.7455631356443777, 0.6336378065614644, 0.13609565706463664], "pregrasp_position_error": 0.27394121862634546, "pregrasp_orientation_error_deg": 30.164918294810377}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.4, "tray_projected_count": 120, "tray_visible_count": 48}, "wrist_left": {"grasp_visibility": 0.4444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 40, "tray_visibility": 0.7857142857142857, "tray_projected_count": 280, "tray_visible_count": 220}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.43948890556621373, "strict_length": 0.0, "assisted_length": 1.108858696578527, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.1523423194885254, "door_quality": 0.6360207981234139, "step_quality_mean": 0.4800297116048771, "step_quality_min": 0.07597037199735668, "step_quality_max": 0.9477750889423753, "alignment_signed_mean": -0.4135444820219827, "alignment_abs_mean": 0.498867274803205, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.36774096843423143, 0.13304496485582903, 1.0409301697188391, 0.1552955665569502, 0.7455631356443777, 0.6336378065614644, 0.13609565706463664], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38774096843423145, 0.13304496485582903, 1.0409301697188391, 0.1552955665569502, 0.7455631356443777, 0.6336378065614644, 0.13609565706463664], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.0943558572953749, "base_score": 0.5192828559444661, "final_score": 0.5192828559444661, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12037992477416992, "door_quality": 0.7478736318245502, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6398194740350718, "step_quality_min": 0.5063110594498226, "step_quality_max": 0.9403844040525928, "alignment_signed_mean": 0.1347203376910735, "alignment_abs_mean": 0.1347203376910735, "alignment_min": 0.06703662717641919, "alignment_max": 0.18376137682171392, "door_contact_steps": 19, "path_steps": 27}, {"path_found": true, "path_length": 1.092862608406166, "base_score": 0.5211467353648163, "final_score": 0.5211467353648163, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12369108200073242, "door_quality": 0.750184502800377, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6431207182862528, "step_quality_min": 0.5066330937555632, "step_quality_max": 0.9362048940704201, "alignment_signed_mean": 0.09820304859504714, "alignment_abs_mean": 0.15676504654555012, "alignment_min": -0.33087528842034186, "alignment_max": 0.1862701536403034, "door_contact_steps": 19, "path_steps": 27}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5202147956546412, "score_before_reliability": 0.5202147956546412, "median_path_length": 1.0936092328507705, "door_quality": 0.7490290673124635, "door_open_delta": 0.12203550338745117, "step_quality_mean": 0.6414700961606623, "alignment_abs_mean": 0.1457426921183118, "alignment_signed_mean": 0.11646169314306032, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5202147956546412, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.36774096843423143, 0.13304496485582903, 1.0409301697188391, 0.1552955665569502, 0.7455631356443777, 0.6336378065614644, 0.13609565706463664], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.108890773833029, "base_score": 0.4076414076970005, "final_score": 0.7038207038485003, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.002503494938337632, "door_open_delta": 0.16263675689697266, "door_quality": 0.5899384109222958, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.41419772988899406, "step_quality_min": 0.07597037199735668, "step_quality_max": 0.8702015492860621, "alignment_signed_mean": -0.50439510681456, "alignment_abs_mean": 0.6001880304754632, "alignment_min": -0.9615880141586397, "alignment_max": 0.3833428714592964, "door_contact_steps": 8, "path_steps": 28}, {"path_found": true, "path_length": 1.108826619324025, "base_score": 0.47133640343542693, "final_score": 0.7356682017177134, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.007441102095159682, "door_open_delta": 0.14204788208007812, "door_quality": 0.6821031853245321, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5458616933207602, "step_quality_min": 0.08291839822299285, "step_quality_max": 0.9477750889423753, "alignment_signed_mean": -0.3226938572294053, "alignment_abs_mean": 0.39754651913094674, "alignment_min": -0.9580749671906217, "alignment_max": 0.4899715908504358, "door_contact_steps": 11, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.43948890556621373, "score_before_reliability": 0.7197444527831068, "median_path_length": 1.108858696578527, "door_quality": 0.6360207981234139, "door_open_delta": 0.1523423194885254, "step_quality_mean": 0.4800297116048771, "alignment_abs_mean": 0.498867274803205, "alignment_signed_mean": -0.4135444820219827, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.7197444527831068, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40774096843423147, 0.13304496485582903, 1.0409301697188391, 0.1552955665569502, 0.7455631356443777, 0.6336378065614644, 0.13609565706463664], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.0827880391602505, "base_score": 0.5102449716378824, "final_score": 0.5102449716378824, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11052203178405762, "door_quality": 0.732029119073619, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6171844558194557, "step_quality_min": 0.4946913235177998, "step_quality_max": 0.9288994286563297, "alignment_signed_mean": 0.1591127570860687, "alignment_abs_mean": 0.1591127570860687, "alignment_min": 0.0760763741290237, "alignment_max": 0.1889429931289823, "door_contact_steps": 19, "path_steps": 27}, {"path_found": true, "path_length": 1.082785528656824, "base_score": 0.5199158990065781, "final_score": 0.7599579495032891, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.03925718682767325, "door_open_delta": 0.13519835472106934, "door_quality": 0.7459030077783206, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6370042968261724, "step_quality_min": 0.4948602058181945, "step_quality_max": 0.9302919289485618, "alignment_signed_mean": 0.08519164542034066, "alignment_abs_mean": 0.19688271555400197, "alignment_min": -0.5960307024368832, "alignment_max": 0.19542094000931048, "door_contact_steps": 19, "path_steps": 27}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5150804353222302, "score_before_reliability": 0.6351014605705858, "median_path_length": 1.0827867839085372, "door_quality": 0.7389660634259698, "door_open_delta": 0.12286019325256348, "step_quality_mean": 0.6270943763228141, "alignment_abs_mean": 0.17799773632003535, "alignment_signed_mean": 0.12215220125320468, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6351014605705858, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 199, "state": {"door_angle": 0.7252520322799683, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.3138834536075592, -0.08358746021986008, 1.1790651082992554, 0.1642523556947708, 0.8855355381965637, 0.42772921919822693, 0.07678359001874924], "right_arm_pose": [0.4687614142894745, -0.510245680809021, 1.0850270986557007, -0.6257220506668091, 0.5017367005348206, 0.5806657075881958, 0.13985534012317657], "left_arm_joint_positions": [-0.26186180114746094, 0.024784833192825317, -0.3006870448589325, -1.971635341644287, 0.9105325937271118, 1.702948808670044, 0.43973004817962646], "right_arm_joint_positions": [0.433823823928833, -0.04764246940612793, 0.7255575656890869, -2.3945465087890625, -0.9963575601577759, 1.4307904243469238, -2.6596765518188477], "pregrasp_goal_pose": [0.3877399287283839, 0.1330457694191204, 1.0409314695394838, 0.15529988190569055, 0.7455633119797195, 0.6336376308746089, 0.1360905847203363], "pregrasp_position_error": 0.2673305767361888, "pregrasp_orientation_error_deg": 29.427865057829063}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.4, "tray_projected_count": 120, "tray_visible_count": 48}, "wrist_left": {"grasp_visibility": 0.6, "grasp_projected_count": 90, "grasp_visible_count": 54, "tray_visibility": 0.7821428571428571, "tray_projected_count": 280, "tray_visible_count": 219}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.045454545454545456, "tray_projected_count": 264, "tray_visible_count": 12}}}, "p_pre": {"tray_grasped_left": false, "source": "assisted", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": false, "source_assisted": true, "bump_applied": true, "base_score": 0.5261568899891155, "strict_length": 0.0, "assisted_length": 1.069691273466625, "assisted_reliability": 1.0, "post_assist_strict_feasible": true, "door_open_delta": 0.12743330001831055, "door_quality": 0.7515693551811597, "step_quality_mean": 0.6450990788302283, "step_quality_min": 0.4924950737823079, "step_quality_max": 0.9408426794989646, "alignment_signed_mean": 0.086563378724972, "alignment_abs_mean": 0.1579392333802855, "collision_count": 2, "bad_collision_count": 0, "best_goal_pose": [0.3877399287283839, 0.1330457694191204, 1.0409314695394838, 0.15529988190569055, 0.7455633119797195, 0.6336376308746089, 0.1360905847203363], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877399287283839, 0.1330457694191204, 1.0409314695394838, 0.15529988190569055, 0.7455633119797195, 0.6336376308746089, 0.1360905847203363], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.070407348416643, "base_score": 0.5267507762886102, "final_score": 0.7633753881443051, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.012389658141328167, "door_open_delta": 0.13081026077270508, "door_quality": 0.7525970631562896, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6465672330804138, "step_quality_min": 0.4924950737823079, "step_quality_max": 0.9408426794989646, "alignment_signed_mean": 0.0598682512930334, "alignment_abs_mean": 0.17517108150014918, "alignment_min": -0.6142807847796015, "alignment_max": 0.1669043655171826, "door_contact_steps": 19, "path_steps": 27}, {"path_found": true, "path_length": 1.068975198516607, "base_score": 0.5255630036896207, "final_score": 0.5255630036896207, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.12405633926391602, "door_quality": 0.75054164720603, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6436309245800429, "step_quality_min": 0.5087944540603679, "step_quality_max": 0.9304832879396245, "alignment_signed_mean": 0.1132585061569106, "alignment_abs_mean": 0.14070738526042184, "alignment_min": -0.16949682846418218, "alignment_max": 0.16164722721328215, "door_contact_steps": 19, "path_steps": 27}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5261568899891155, "score_before_reliability": 0.6444691959169628, "median_path_length": 1.069691273466625, "door_quality": 0.7515693551811597, "door_open_delta": 0.12743330001831055, "step_quality_mean": 0.6450990788302283, "alignment_abs_mean": 0.1579392333802855, "alignment_signed_mean": 0.086563378724972, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6444691959169628, "source": "assisted"}, {"goal_index": 1, "target_pose": [0.3677399287283839, 0.1330457694191204, 1.0409314695394838, 0.15529988190569055, 0.7455633119797195, 0.6336376308746089, 0.1360905847203363], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.0840099476838982, "base_score": 0.43734289107856145, "final_score": 0.7186714455392808, "bump_applied": true, "post_assist_strict_feasible": true, "post_assist_strict_length": 0.00367680232336958, "door_open_delta": 0.22297263145446777, "door_quality": 0.6276948774252062, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.4681355391788661, "step_quality_min": 0.07796464598616004, "step_quality_max": 0.892034975477589, "alignment_signed_mean": -0.5304511018689764, "alignment_abs_mean": 0.592789204137523, "alignment_min": -0.9605796733777843, "alignment_max": 0.16878638317159367, "door_contact_steps": 9, "path_steps": 27}, {"path_found": true, "path_length": 1.083963586184248, "base_score": 0.5001134258193917, "final_score": 0.5001134258193917, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.13028931617736816, "door_quality": 0.7177749786568765, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.5968213980812521, "step_quality_min": -0.11571293081913112, "step_quality_max": 0.9584574437590743, "alignment_signed_mean": 0.1331428569020028, "alignment_abs_mean": 0.18733920308442326, "alignment_min": -0.5513479853458371, "alignment_max": 0.7191664000234609, "door_contact_steps": 19, "path_steps": 27}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.46872815844897653, "score_before_reliability": 0.6093924356793362, "median_path_length": 1.083986766934073, "door_quality": 0.6727349280410413, "door_open_delta": 0.17663097381591797, "step_quality_mean": 0.5324784686300591, "alignment_abs_mean": 0.39006420361097316, "alignment_signed_mean": -0.1986541224834868, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": true, "bump_applied": true}, "candidate_score": 0.6093924356793362, "source": "assisted"}, {"goal_index": 2, "target_pose": [0.40773992872838394, 0.1330457694191204, 1.0409314695394838, 0.15529988190569055, 0.7455633119797195, 0.6336376308746089, 0.1360905847203363], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.0597774555171584, "base_score": 0.5144967454372064, "final_score": 0.5144967454372064, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11612153053283691, "door_quality": 0.7324890422636559, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6178414889480799, "step_quality_min": 0.49204799667119176, "step_quality_max": 0.9232994782498423, "alignment_signed_mean": 0.09944426725984713, "alignment_abs_mean": 0.18557301134164014, "alignment_min": -0.518925683092803, "alignment_max": 0.1847155227734928, "door_contact_steps": 19, "path_steps": 27}, {"path_found": true, "path_length": 1.0599246278382835, "base_score": 0.5152436517724598, "final_score": 0.5152436517724598, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.11451840400695801, "door_quality": 0.7335883999370536, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.6194119999100767, "step_quality_min": 0.49429330560103374, "step_quality_max": 0.9251408819122635, "alignment_signed_mean": 0.12055945691889687, "alignment_abs_mean": 0.16536919994294044, "alignment_min": -0.2710989452954634, "alignment_max": 0.17974816036492014, "door_contact_steps": 19, "path_steps": 27}], "attempt_count": 2, "successful_attempt_count": 2, "reliability": 1.0, "base_score": 0.5148701986048331, "score_before_reliability": 0.5148701986048331, "median_path_length": 1.059851041677721, "door_quality": 0.7330387211003547, "door_open_delta": 0.11531996726989746, "step_quality_mean": 0.6186267444290783, "alignment_abs_mean": 0.1754711056422903, "alignment_signed_mean": 0.110001862089372, "collision_count": 2.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.5148701986048331, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474810600280762, "final_height": 1.0474810600280762, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474810600280762}], "score": 0.0007311503092447911}}
+{"frame_index": 200, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.047481894493103, "tray_grasped_left": false, "left_arm_pose": [0.3159569203853607, -0.07581053674221039, 1.1747010946273804, 0.16300536692142487, 0.8816617131233215, 0.43590232729911804, 0.07804597914218903], "right_arm_pose": [0.46878552436828613, -0.5102177858352661, 1.0849781036376953, -0.6257479190826416, 0.5016884803771973, 0.5806659460067749, 0.13991209864616394], "left_arm_joint_positions": [-0.2562880516052246, 0.025100737810134888, -0.29478809237480164, -1.9881560802459717, 0.9331151247024536, 1.7144739627838135, 0.42962801456451416], "right_arm_joint_positions": [0.433835506439209, -0.04764747619628906, 0.7255713939666748, -2.394709587097168, -0.9963434934616089, 1.4308009147644043, -2.659696340560913], "pregrasp_goal_pose": [0.24837952759984644, 0.2766866539228069, 1.0409295354822317, 0.03316533444332382, 0.7608418428880086, 0.6472867065213747, 0.03224391822891937], "pregrasp_position_error": 0.3830349898880535, "pregrasp_orientation_error_deg": 32.15769293262513}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.022222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 2, "tray_visibility": 0.3232758620689655, "tray_projected_count": 232, "tray_visible_count": 75}, "wrist_left": {"grasp_visibility": 0.16666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 15, "tray_visibility": 0.4357142857142857, "tray_projected_count": 280, "tray_visible_count": 122}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.24837952759984644, 0.2766866539228069, 1.0409295354822317, 0.03316533444332382, 0.7608418428880086, 0.6472867065213747, 0.03224391822891937], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.175573168948662, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022817134857177734, "door_quality": 0.03493901476146564, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0499128782306652, "step_quality_min": -0.773104750056251, "step_quality_max": 0.5376406820903744, "alignment_signed_mean": -0.5818173134639367, "alignment_abs_mean": 0.5818173134639367, "alignment_min": -0.9222116886929099, "alignment_max": -0.32757989948465155, "door_contact_steps": 6, "path_steps": 29}, {"path_found": true, "path_length": 1.173970162349789, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02203536033630371, "door_quality": 0.04746844794856945, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06781206849795636, "step_quality_min": -0.7738874471501804, "step_quality_max": 0.5419879967066862, "alignment_signed_mean": -0.5674266340135885, "alignment_abs_mean": 0.5674266340135885, "alignment_min": -0.9305274853034785, "alignment_max": -0.2907514303459635, "door_contact_steps": 6, "path_steps": 29}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22837952759984645, 0.2766866539228069, 1.0409295354822317, 0.03316533444332382, 0.7608418428880086, 0.6472867065213747, 0.03224391822891937], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.2164114602184952, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02318716049194336, "door_quality": 0.02653858744685604, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.03791226778122292, "step_quality_min": -0.6816195168079537, "step_quality_max": 0.5446239793582857, "alignment_signed_mean": -0.582320984439455, "alignment_abs_mean": 0.582320984439455, "alignment_min": -0.9333423281309445, "alignment_max": -0.2990053473491966, "door_contact_steps": 6, "path_steps": 30}, {"path_found": true, "path_length": 1.2165168230326149, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02073216438293457, "door_quality": 0.016684778894265336, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.023835398420379055, "step_quality_min": -0.7001451306183046, "step_quality_max": 0.5013285247032936, "alignment_signed_mean": -0.6253312261232152, "alignment_abs_mean": 0.6253312261232152, "alignment_min": -0.9356751937195946, "alignment_max": -0.351705033839197, "door_contact_steps": 6, "path_steps": 30}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.26837952759984646, 0.2766866539228069, 1.0409295354822317, 0.03316533444332382, 0.7608418428880086, 0.6472867065213747, 0.03224391822891937], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1355759687694074, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024268150329589844, "door_quality": 0.011087594922203143, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.015839421317433062, "step_quality_min": -0.8705744368275579, "step_quality_max": 0.48903198904199674, "alignment_signed_mean": -0.619095103320103, "alignment_abs_mean": 0.619095103320103, "alignment_min": -0.9404106271957032, "alignment_max": -0.4547638562121352, "door_contact_steps": 6, "path_steps": 28}, {"path_found": true, "path_length": 1.135611089625909, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024451017379760742, "door_quality": 0.007190341093595146, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.010271915847993066, "step_quality_min": -0.891651736535179, "step_quality_max": 0.4697719074714529, "alignment_signed_mean": -0.615508508756853, "alignment_abs_mean": 0.615508508756853, "alignment_min": -0.9439191497632362, "alignment_max": -0.39333108406779344, "door_contact_steps": 6, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 201, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.0474820137023926, "tray_grasped_left": false, "left_arm_pose": [0.3186246454715729, -0.06613529473543167, 1.1692445278167725, 0.1616276502609253, 0.8765965700149536, 0.4462316632270813, 0.07957620918750763], "right_arm_pose": [0.4687538743019104, -0.5102605223655701, 1.0849701166152954, -0.6257835626602173, 0.5016854405403137, 0.5806294679641724, 0.13991506397724152], "left_arm_joint_positions": [-0.24926090240478516, 0.026484519243240356, -0.2872919738292694, -2.007694959640503, 0.9621537923812866, 1.728222370147705, 0.41653668880462646], "right_arm_joint_positions": [0.43382692337036133, -0.04757571220397949, 0.7256026268005371, -2.394545078277588, -0.9963525533676147, 1.4308266639709473, -2.659726142883301], "pregrasp_goal_pose": [0.24839213070015545, 0.2766859352668063, 1.0409314888052617, 0.03316963859521786, 0.76084348183697, 0.6472848056818666, 0.03223897571336666], "pregrasp_position_error": 0.3727240773705587, "pregrasp_orientation_error_deg": 30.962311991160746}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.022222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 2, "tray_visibility": 0.3232758620689655, "tray_projected_count": 232, "tray_visible_count": 75}, "wrist_left": {"grasp_visibility": 0.17777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 16, "tray_visibility": 0.41544117647058826, "tray_projected_count": 272, "tray_visible_count": 113}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.24839213070015545, 0.2766859352668063, 1.0409314888052617, 0.03316963859521786, 0.76084348183697, 0.6472848056818666, 0.03223897571336666], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.128492136233591, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02316427230834961, "door_quality": 0.01653436607239421, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.02362052296056316, "step_quality_min": -0.8376083403781533, "step_quality_max": 0.5165733487133366, "alignment_signed_mean": -0.6026144602694584, "alignment_abs_mean": 0.6026144602694584, "alignment_min": -0.9429096226254614, "alignment_max": -0.34894554281026996, "door_contact_steps": 6, "path_steps": 28}, {"path_found": true, "path_length": 1.1269338391213872, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02338266372680664, "door_quality": 0.02327939439938671, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.03325627771340959, "step_quality_min": -0.826375474997097, "step_quality_max": 0.5086781371009156, "alignment_signed_mean": -0.6039465268449689, "alignment_abs_mean": 0.6039465268449689, "alignment_min": -0.9559874647459289, "alignment_max": -0.3926535306514278, "door_contact_steps": 6, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22839213070015546, 0.2766859352668063, 1.0409314888052617, 0.03316963859521786, 0.76084348183697, 0.6472848056818666, 0.03223897571336666], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1692077264186154, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0211336612701416, "door_quality": 0.025528633821278558, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0364694768875408, "step_quality_min": -0.7389683863109089, "step_quality_max": 0.5382472761500544, "alignment_signed_mean": -0.5649483235601725, "alignment_abs_mean": 0.5649483235601725, "alignment_min": -0.9509712032681973, "alignment_max": -0.27169901308283023, "door_contact_steps": 6, "path_steps": 29}, {"path_found": true, "path_length": 1.169137559738443, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020979881286621094, "door_quality": 0.0081760312634676, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.011680044662096573, "step_quality_min": -0.7397940016746152, "step_quality_max": 0.47322938231645983, "alignment_signed_mean": -0.6643259852246574, "alignment_abs_mean": 0.6643259852246574, "alignment_min": -0.9368263638903399, "alignment_max": -0.46892828623166843, "door_contact_steps": 6, "path_steps": 29}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.26839213070015544, 0.2766859352668063, 1.0409314888052617, 0.03316963859521786, 0.76084348183697, 0.6472848056818666, 0.03223897571336666], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.0889688082353728, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023749351501464844, "door_quality": 0.005250048189733475, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.007500068842476393, "step_quality_min": -0.9427838032081151, "step_quality_max": 0.4784480480433587, "alignment_signed_mean": -0.6136622363338566, "alignment_abs_mean": 0.6136622363338566, "alignment_min": -0.9495503941597441, "alignment_max": -0.3952100675049909, "door_contact_steps": 6, "path_steps": 27}, {"path_found": true, "path_length": 1.0890368414663487, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023837804794311523, "door_quality": 0.006485825071953207, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.009265464388504582, "step_quality_min": -0.9630827980134458, "step_quality_max": 0.46910510492064617, "alignment_signed_mean": -0.6131828467213885, "alignment_abs_mean": 0.6131828467213885, "alignment_min": -0.9546725279608588, "alignment_max": -0.4040225779566609, "door_contact_steps": 6, "path_steps": 27}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 202, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.0474820137023926, "tray_grasped_left": false, "left_arm_pose": [0.321638286113739, -0.05554172396659851, 1.1635158061981201, 0.16030102968215942, 0.8706061244010925, 0.45792156457901, 0.08158743381500244], "right_arm_pose": [0.46877455711364746, -0.510252058506012, 1.0849647521972656, -0.6257950067520142, 0.5016631484031677, 0.5806361436843872, 0.13991564512252808], "left_arm_joint_positions": [-0.24172139167785645, 0.028961926698684692, -0.27925989031791687, -2.0278425216674805, 0.9957956075668335, 1.7424335479736328, 0.4011760950088501], "right_arm_joint_positions": [0.4338390827178955, -0.04747438430786133, 0.7255911827087402, -2.394667625427246, -0.9963833093643188, 1.4308381080627441, -2.6597611904144287], "pregrasp_goal_pose": [0.24840422674814525, 0.27668497943608006, 1.0409292333755364, 0.03316728502331009, 0.7608392610028003, 0.6472897546424167, 0.03224164474488399], "pregrasp_position_error": 0.3616148195820537, "pregrasp_orientation_error_deg": 29.6344873908458}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.011111111111111112, "grasp_projected_count": 90, "grasp_visible_count": 1, "tray_visibility": 0.3275862068965517, "tray_projected_count": 232, "tray_visible_count": 76}, "wrist_left": {"grasp_visibility": 0.16666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 15, "tray_visibility": 0.44696969696969696, "tray_projected_count": 264, "tray_visible_count": 118}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.24840422674814525, 0.27668497943608006, 1.0409292333755364, 0.03316728502331009, 0.7608392610028003, 0.6472897546424167, 0.03224164474488399], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.0765652039310623, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023128747940063477, "door_quality": 0.018966099946378056, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.027094428494825795, "step_quality_min": -0.8395255143939179, "step_quality_max": 0.5095012526758362, "alignment_signed_mean": -0.6051589170835806, "alignment_abs_mean": 0.6051589170835806, "alignment_min": -0.9491891513797701, "alignment_max": -0.3666034434994815, "door_contact_steps": 6, "path_steps": 27}, {"path_found": true, "path_length": 1.0751379617029135, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022070646286010742, "door_quality": 0.02835639136915685, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04050913052736693, "step_quality_min": -0.8440634794002978, "step_quality_max": 0.5512695053898171, "alignment_signed_mean": -0.5800399572204573, "alignment_abs_mean": 0.5800399572204573, "alignment_min": -0.9528458286017953, "alignment_max": -0.27347863729651967, "door_contact_steps": 6, "path_steps": 27}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22840422674814526, 0.27668497943608006, 1.0409292333755364, 0.03316728502331009, 0.7608392610028003, 0.6472897546424167, 0.03224164474488399], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.1170782365335803, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020673513412475586, "door_quality": 0.03180420817164661, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0454345831023523, "step_quality_min": -0.7723275986454551, "step_quality_max": 0.5159922825413479, "alignment_signed_mean": -0.5945158022154396, "alignment_abs_mean": 0.5945158022154396, "alignment_min": -0.956759793393816, "alignment_max": -0.32271359933142146, "door_contact_steps": 6, "path_steps": 28}, {"path_found": true, "path_length": 1.1170861422514566, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020696401596069336, "door_quality": 0.025984580420192104, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.03712082917170301, "step_quality_min": -0.7691341368070537, "step_quality_max": 0.5474296464760453, "alignment_signed_mean": -0.5555189563319685, "alignment_abs_mean": 0.5555189563319685, "alignment_min": -0.9547412834665393, "alignment_max": -0.2674613235748527, "door_contact_steps": 6, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.26840422674814524, 0.27668497943608006, 1.0409292333755364, 0.03316728502331009, 0.7608392610028003, 0.6472897546424167, 0.03224164474488399], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.0374815789258875, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023003101348876953, "door_quality": 0.009445034581747638, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.01349290654535377, "step_quality_min": -0.9066211454276738, "step_quality_max": 0.5217743709746333, "alignment_signed_mean": -0.5988904241038836, "alignment_abs_mean": 0.5988904241038836, "alignment_min": -0.9487454686374727, "alignment_max": -0.3654385432286405, "door_contact_steps": 6, "path_steps": 26}, {"path_found": true, "path_length": 1.03759787864841, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02282428741455078, "door_quality": 0.010323363289192169, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0147476618417031, "step_quality_min": -0.9185019607852967, "step_quality_max": 0.4993676002226446, "alignment_signed_mean": -0.6038172113557811, "alignment_abs_mean": 0.6038172113557811, "alignment_min": -0.9466638033733813, "alignment_max": -0.41780814756841755, "door_contact_steps": 6, "path_steps": 26}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 203, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.047481894493103, "tray_grasped_left": false, "left_arm_pose": [0.3248597979545593, -0.0444052517414093, 1.1577516794204712, 0.15897245705127716, 0.8639950156211853, 0.4703226685523987, 0.08388635516166687], "right_arm_pose": [0.4687713086605072, -0.5102333426475525, 1.0849779844284058, -0.6257801651954651, 0.5016823410987854, 0.5806410312652588, 0.139893040060997], "left_arm_joint_positions": [-0.23384571075439453, 0.032920628786087036, -0.27058884501457214, -2.0474681854248047, 1.0323837995529175, 1.7559890747070312, 0.3841503858566284], "right_arm_joint_positions": [0.4338529109954834, -0.04762625694274902, 0.7255935668945312, -2.3945846557617188, -0.9963575601577759, 1.430837631225586, -2.6597206592559814], "pregrasp_goal_pose": [0.24839248314320142, 0.2766855905521722, 1.040928346465878, 0.03316418244577231, 0.7608396190069414, 0.647289304976545, 0.032245415411448125], "pregrasp_position_error": 0.35013464604617556, "pregrasp_orientation_error_deg": 28.246240363784576}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.022222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 2, "tray_visibility": 0.3232758620689655, "tray_projected_count": 232, "tray_visible_count": 75}, "wrist_left": {"grasp_visibility": 0.16666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 15, "tray_visibility": 0.44921875, "tray_projected_count": 256, "tray_visible_count": 115}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.24839248314320142, 0.2766855905521722, 1.040928346465878, 0.03316418244577231, 0.7608396190069414, 0.647289304976545, 0.032245415411448125], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.0221895710566027, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022573232650756836, "door_quality": 0.019611688001459904, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.02801669714494272, "step_quality_min": -0.8453656595078415, "step_quality_max": 0.5265378325615909, "alignment_signed_mean": -0.5865940977095344, "alignment_abs_mean": 0.5865940977095344, "alignment_min": -0.9503217480722089, "alignment_max": -0.31026919214199594, "door_contact_steps": 6, "path_steps": 26}, {"path_found": true, "path_length": 1.020734527268829, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022812604904174805, "door_quality": 0.011784165846344823, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.016834522637635463, "step_quality_min": -0.8182716051250387, "step_quality_max": 0.5203761125751355, "alignment_signed_mean": -0.6022648119480003, "alignment_abs_mean": 0.6022648119480003, "alignment_min": -0.9452296856837505, "alignment_max": -0.36432360353667625, "door_contact_steps": 6, "path_steps": 26}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22839248314320143, 0.2766855905521722, 1.040928346465878, 0.03316418244577231, 0.7608396190069414, 0.647289304976545, 0.032245415411448125], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.0626932757154994, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020244121551513672, "door_quality": 0.014463584377454625, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.02066226339636375, "step_quality_min": -0.721494652877108, "step_quality_max": 0.510768020613102, "alignment_signed_mean": -0.6501909213076014, "alignment_abs_mean": 0.6501909213076014, "alignment_min": -0.9459756462342229, "alignment_max": -0.43417937386657696, "door_contact_steps": 6, "path_steps": 27}, {"path_found": true, "path_length": 1.0627789776344743, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020296812057495117, "door_quality": 0.01753643410553698, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.025052048722195686, "step_quality_min": -0.7425679599303592, "step_quality_max": 0.573573972096613, "alignment_signed_mean": -0.6169791018877344, "alignment_abs_mean": 0.6169791018877344, "alignment_min": -0.9503501008262756, "alignment_max": -0.2664551669827552, "door_contact_steps": 6, "path_steps": 27}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.2683924831432014, 0.2766855905521722, 1.040928346465878, 0.03316418244577231, 0.7608396190069414, 0.647289304976545, 0.032245415411448125], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.9834035827204162, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02355027198791504, "door_quality": 0.0027532412238262375, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.003933201748323197, "step_quality_min": -0.9236822285476248, "step_quality_max": 0.4792912578692464, "alignment_signed_mean": -0.625114220707872, "alignment_abs_mean": 0.625114220707872, "alignment_min": -0.9533033396867682, "alignment_max": -0.44332642549751783, "door_contact_steps": 6, "path_steps": 25}, {"path_found": true, "path_length": 0.9835393737477037, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022710084915161133, "door_quality": 0.008207089383765881, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.01172441340537983, "step_quality_min": -0.9140159098713602, "step_quality_max": 0.5155088152931455, "alignment_signed_mean": -0.6030661680927495, "alignment_abs_mean": 0.6030661680927495, "alignment_min": -0.9477468297928071, "alignment_max": -0.38788522956454546, "door_contact_steps": 6, "path_steps": 25}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 204, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.32812559604644775, -0.033150821924209595, 1.1520578861236572, 0.15761993825435638, 0.8570888638496399, 0.4828132688999176, 0.08629034459590912], "right_arm_pose": [0.46875321865081787, -0.5102643966674805, 1.0850416421890259, -0.625765323638916, 0.5017089247703552, 0.5806447267532349, 0.13984878361225128], "left_arm_joint_positions": [-0.22574329376220703, 0.03774622082710266, -0.26179859042167664, -2.066007614135742, 1.0702778100967407, 1.7688381671905518, 0.3658031225204468], "right_arm_joint_positions": [0.43384313583374023, -0.047698020935058594, 0.7255945205688477, -2.3944272994995117, -0.9963480234146118, 1.4308466911315918, -2.6597654819488525], "pregrasp_goal_pose": [0.24839234982495523, 0.27668559091765166, 1.040928701459166, 0.03316642644457243, 0.7608382350222287, 0.647290947625933, 0.032242788444523544], "pregrasp_position_error": 0.3386822832093879, "pregrasp_orientation_error_deg": 26.868807436216215}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.011111111111111112, "grasp_projected_count": 90, "grasp_visible_count": 1, "tray_visibility": 0.33189655172413796, "tray_projected_count": 232, "tray_visible_count": 77}, "wrist_left": {"grasp_visibility": 0.1111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 10, "tray_visibility": 0.4103585657370518, "tray_projected_count": 251, "tray_visible_count": 103}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.24839234982495523, 0.27668559091765166, 1.040928701459166, 0.03316642644457243, 0.7608382350222287, 0.647290947625933, 0.032242788444523544], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.9676229823039124, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021341562271118164, "door_quality": 0.026465917584397536, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.03780845369199648, "step_quality_min": -0.769349257764284, "step_quality_max": 0.5033335511759255, "alignment_signed_mean": -0.598614801130784, "alignment_abs_mean": 0.598614801130784, "alignment_min": -0.9385578930128814, "alignment_max": -0.35190400239063635, "door_contact_steps": 6, "path_steps": 25}, {"path_found": true, "path_length": 0.9662645265679646, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021462440490722656, "door_quality": 0.026806786247454313, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.038295408924934736, "step_quality_min": -0.776949384373977, "step_quality_max": 0.5576072376636564, "alignment_signed_mean": -0.5519567747948806, "alignment_abs_mean": 0.5519567747948806, "alignment_min": -0.9568725274666747, "alignment_max": -0.2222158105830857, "door_contact_steps": 6, "path_steps": 25}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22839234982495524, 0.27668559091765166, 1.040928701459166, 0.03316642644457243, 0.7608382350222287, 0.647290947625933, 0.032242788444523544], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 1.0082841327875127, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02019190788269043, "door_quality": 0.008818568357043656, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.012597954795776653, "step_quality_min": -0.7464700654379172, "step_quality_max": 0.5839451365749473, "alignment_signed_mean": -0.5400867968811063, "alignment_abs_mean": 0.5400867968811063, "alignment_min": -0.9651856239206157, "alignment_max": -0.17459468770763742, "door_contact_steps": 6, "path_steps": 26}, {"path_found": true, "path_length": 1.0083162426496926, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020261764526367188, "door_quality": 0.0028011585260824547, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.00400165503726065, "step_quality_min": -0.7266706956871767, "step_quality_max": 0.5853198840752629, "alignment_signed_mean": -0.6272102294015883, "alignment_abs_mean": 0.6272102294015883, "alignment_min": -0.9634805134230995, "alignment_max": -0.21337612741421272, "door_contact_steps": 6, "path_steps": 26}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.26839234982495525, 0.27668559091765166, 1.040928701459166, 0.03316642644457243, 0.7608382350222287, 0.647290947625933, 0.032242788444523544], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.9292296528264553, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022649288177490234, "door_quality": 0.010418997479442277, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.014884282113488967, "step_quality_min": -0.9212648062721364, "step_quality_max": 0.4849624785930138, "alignment_signed_mean": -0.609245038942453, "alignment_abs_mean": 0.609245038942453, "alignment_min": -0.9483741743920628, "alignment_max": -0.43267290137697223, "door_contact_steps": 6, "path_steps": 24}, {"path_found": true, "path_length": 0.9292185927210908, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022763490676879883, "door_quality": 0.010860379415176407, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.015514827735966297, "step_quality_min": -0.9098890147841145, "step_quality_max": 0.4763117484984076, "alignment_signed_mean": -0.6158480585094915, "alignment_abs_mean": 0.6158480585094915, "alignment_min": -0.9490355615988961, "alignment_max": -0.4258586502386748, "door_contact_steps": 6, "path_steps": 24}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474814176559448, "final_height": 1.0474814176559448, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474814176559448}], "score": 0.0007323424021402989}}
+{"frame_index": 205, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.0474817752838135, "tray_grasped_left": false, "left_arm_pose": [0.33137235045433044, -0.022186413407325745, 1.1463685035705566, 0.15642254054546356, 0.8499945402145386, 0.4951349198818207, 0.0887843519449234], "right_arm_pose": [0.4687698483467102, -0.5102391839027405, 1.0849723815917969, -0.6257774233818054, 0.501680314540863, 0.5806462168693542, 0.13989117741584778], "left_arm_joint_positions": [-0.21788334846496582, 0.04388812184333801, -0.25304362177848816, -2.0826029777526855, 1.1089192628860474, 1.7803277969360352, 0.3464566469192505], "right_arm_joint_positions": [0.43384289741516113, -0.04756021499633789, 0.7255828380584717, -2.3946657180786133, -0.9963113069534302, 1.430833339691162, -2.6597421169281006], "pregrasp_goal_pose": [0.24839260630512427, 0.27668535165601427, 1.0409306853130451, 0.03316671089005954, 0.7608441979678672, 0.6472839428272141, 0.03224241097411654], "pregrasp_position_error": 0.3276081552862322, "pregrasp_orientation_error_deg": 25.544288613354496}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.011111111111111112, "grasp_projected_count": 90, "grasp_visible_count": 1, "tray_visibility": 0.33189655172413796, "tray_projected_count": 232, "tray_visible_count": 77}, "wrist_left": {"grasp_visibility": 0.12941176470588237, "grasp_projected_count": 85, "grasp_visible_count": 11, "tray_visibility": 0.43548387096774194, "tray_projected_count": 248, "tray_visible_count": 108}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.24839260630512427, 0.27668535165601427, 1.0409306853130451, 0.03316671089005954, 0.7608441979678672, 0.6472839428272141, 0.03224241097411654], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.913775711707756, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019666671752929688, "door_quality": 0.031086632685774513, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04440947526539216, "step_quality_min": -0.7979102836813129, "step_quality_max": 0.540245924892577, "alignment_signed_mean": -0.5611994132801432, "alignment_abs_mean": 0.5611994132801432, "alignment_min": -0.9500514449747893, "alignment_max": -0.3024103922216932, "door_contact_steps": 6, "path_steps": 24}, {"path_found": true, "path_length": 0.9124765303107786, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02087235450744629, "door_quality": 0.02653768951728911, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.03791098502469873, "step_quality_min": -0.782441654973909, "step_quality_max": 0.5457769724216468, "alignment_signed_mean": -0.5529546671028367, "alignment_abs_mean": 0.5529546671028367, "alignment_min": -0.9456538118540997, "alignment_max": -0.25245888407706873, "door_contact_steps": 6, "path_steps": 24}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22839260630512428, 0.27668535165601427, 1.0409306853130451, 0.03316671089005954, 0.7608441979678672, 0.6472839428272141, 0.03224241097411654], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.9547811093002523, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020435094833374023, "door_quality": 0.010362501952430134, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.014803574217757335, "step_quality_min": -0.7494661159652822, "step_quality_max": 0.6192459431750038, "alignment_signed_mean": -0.5331346752096436, "alignment_abs_mean": 0.5331346752096436, "alignment_min": -0.9605344139125751, "alignment_max": -0.006600217291484822, "door_contact_steps": 6, "path_steps": 25}, {"path_found": true, "path_length": 0.9548029607366401, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020507097244262695, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.010181847425511148, "step_quality_min": -0.7040170636114118, "step_quality_max": 0.5535266042828489, "alignment_signed_mean": -0.5365670644729069, "alignment_abs_mean": 0.5804933530932582, "alignment_min": -0.967203513608386, "alignment_max": 0.12299360813698358, "door_contact_steps": 6, "path_steps": 25}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.2683926063051243, 0.27668535165601427, 1.0409306853130451, 0.03316671089005954, 0.7608441979678672, 0.6472839428272141, 0.03224241097411654], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.8754187386689112, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022086381912231445, "door_quality": 0.012495606627553163, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.017850866610790234, "step_quality_min": -0.89942253532733, "step_quality_max": 0.5138825547620511, "alignment_signed_mean": -0.5989268690380847, "alignment_abs_mean": 0.5989268690380847, "alignment_min": -0.9480772478998651, "alignment_max": -0.3851088822261214, "door_contact_steps": 6, "path_steps": 23}, {"path_found": true, "path_length": 0.8753996941445946, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0228421688079834, "door_quality": 0.0072499771163983, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.010357110166283287, "step_quality_min": -0.9030967775413006, "step_quality_max": 0.483329159427068, "alignment_signed_mean": -0.6188220380910213, "alignment_abs_mean": 0.6188220380910213, "alignment_min": -0.9501700808205937, "alignment_max": -0.4128253141622676, "door_contact_steps": 6, "path_steps": 23}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474810600280762, "final_height": 1.0474810600280762, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474810600280762}], "score": 0.0007311503092447911}}
+{"frame_index": 206, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.0474820137023926, "tray_grasped_left": false, "left_arm_pose": [0.3347181975841522, -0.011191539466381073, 1.140695333480835, 0.15534408390522003, 0.8427287340164185, 0.5072543025016785, 0.09148561209440231], "right_arm_pose": [0.4687730371952057, -0.5102500915527344, 1.08497953414917, -0.6257832050323486, 0.5016770362854004, 0.5806448459625244, 0.13988284766674042], "left_arm_joint_positions": [-0.20991849899291992, 0.05118134617805481, -0.2438168227672577, -2.098041296005249, 1.148400902748108, 1.7915143966674805, 0.3261173963546753], "right_arm_joint_positions": [0.433856725692749, -0.04762673377990723, 0.7256002426147461, -2.3945746421813965, -0.9963611364364624, 1.4308462142944336, -2.6597492694854736], "pregrasp_goal_pose": [0.24839255330833493, 0.2766856420796836, 1.0409299755253005, 0.033164966300613816, 0.7608430114666164, 0.6472853243249341, 0.032244469700312084], "pregrasp_position_error": 0.316667830956251, "pregrasp_orientation_error_deg": 24.286679898559065}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.022222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 2, "tray_visibility": 0.3275862068965517, "tray_projected_count": 232, "tray_visible_count": 76}, "wrist_left": {"grasp_visibility": 0.19117647058823528, "grasp_projected_count": 68, "grasp_visible_count": 13, "tray_visibility": 0.44396551724137934, "tray_projected_count": 232, "tray_visible_count": 103}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.24839255330833493, 0.2766856420796836, 1.0409299755253005, 0.033164966300613816, 0.7608430114666164, 0.6472853243249341, 0.032244469700312084], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.8601297622596265, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02032613754272461, "door_quality": 0.025160701326578692, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.03594385903796956, "step_quality_min": -0.8207274881872278, "step_quality_max": 0.5638220248637131, "alignment_signed_mean": -0.5335315367976219, "alignment_abs_mean": 0.5335315367976219, "alignment_min": -0.9601054845167383, "alignment_max": -0.19290617206815283, "door_contact_steps": 6, "path_steps": 23}, {"path_found": true, "path_length": 0.8588217951393237, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020854711532592773, "door_quality": 0.013736286945339455, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.01962326706477065, "step_quality_min": -0.805404798328185, "step_quality_max": 0.5229110326275832, "alignment_signed_mean": -0.5558869878060881, "alignment_abs_mean": 0.5558869878060881, "alignment_min": -0.9548413606871902, "alignment_max": -0.2660204937838655, "door_contact_steps": 6, "path_steps": 23}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22839255330833494, 0.2766856420796836, 1.0409299755253005, 0.033164966300613816, 0.7608430114666164, 0.6472853243249341, 0.032244469700312084], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.9016753230876511, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02063441276550293, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.04378388298611369, "step_quality_min": -0.7171578264358338, "step_quality_max": 0.6177629690290438, "alignment_signed_mean": -0.5788171645251207, "alignment_abs_mean": 0.5798668744057005, "alignment_min": -0.9591166659748972, "alignment_max": 0.002939187665623707, "door_contact_steps": 6, "path_steps": 24}, {"path_found": true, "path_length": 0.9016868423643747, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021254777908325195, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.10342811270373814, "step_quality_min": -0.7422466074845931, "step_quality_max": 0.5929458631941337, "alignment_signed_mean": -0.6821218701709714, "alignment_abs_mean": 0.6821218701709714, "alignment_min": -0.9606994676165572, "alignment_max": -0.13059043195413572, "door_contact_steps": 6, "path_steps": 24}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.26839255330833495, 0.2766856420796836, 1.0409299755253005, 0.033164966300613816, 0.7608430114666164, 0.6472853243249341, 0.032244469700312084], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.8216414513643865, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021287202835083008, "door_quality": 0.02057666780261227, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.029395239718017534, "step_quality_min": -0.8575987673703036, "step_quality_max": 0.5069489443910168, "alignment_signed_mean": -0.6065231978149427, "alignment_abs_mean": 0.6065231978149427, "alignment_min": -0.9410466540179494, "alignment_max": -0.35743047564623454, "door_contact_steps": 6, "path_steps": 22}, {"path_found": true, "path_length": 0.8215897553069944, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02195000648498535, "door_quality": 0.01103101109445606, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.015758587277794372, "step_quality_min": -0.8791398119496494, "step_quality_max": 0.4799116489698748, "alignment_signed_mean": -0.6039503966556998, "alignment_abs_mean": 0.6039503966556998, "alignment_min": -0.9448137640735669, "alignment_max": -0.36971253062520826, "door_contact_steps": 6, "path_steps": 22}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474810600280762, "final_height": 1.0474810600280762, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474810600280762}], "score": 0.0007311503092447911}}
+{"frame_index": 207, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.0474820137023926, "tray_grasped_left": false, "left_arm_pose": [0.3379339575767517, -9.100139141082764e-05, 1.135008692741394, 0.15400588512420654, 0.835350751876831, 0.5193072557449341, 0.09376189112663269], "right_arm_pose": [0.46877047419548035, -0.5102386474609375, 1.0850141048431396, -0.6257591247558594, 0.5017004609107971, 0.5806518197059631, 0.13987766206264496], "left_arm_joint_positions": [-0.20202183723449707, 0.05987027287483215, -0.23455998301506042, -2.111917495727539, 1.1880055665969849, 1.8002755641937256, 0.30496203899383545], "right_arm_joint_positions": [0.43383264541625977, -0.04772782325744629, 0.7255866527557373, -2.3945932388305664, -0.99634850025177, 1.4308276176452637, -2.6597490310668945], "pregrasp_goal_pose": [0.2483928517254989, 0.2766854981786538, 1.040930933399053, 0.033168099784097176, 0.7608431318790543, 0.6472852120363604, 0.03224065923997895], "pregrasp_position_error": 0.30573430483705727, "pregrasp_orientation_error_deg": 23.04759564255612}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.022222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 2, "tray_visibility": 0.3017241379310345, "tray_projected_count": 232, "tray_visible_count": 70}, "wrist_left": {"grasp_visibility": 0.16666666666666666, "grasp_projected_count": 54, "grasp_visible_count": 9, "tray_visibility": 0.4774774774774775, "tray_projected_count": 222, "tray_visible_count": 106}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.2483928517254989, 0.2766854981786538, 1.040930933399053, 0.033168099784097176, 0.7608431318790543, 0.6472852120363604, 0.03224065923997895], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.807661420881807, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019362926483154297, "door_quality": 0.011069886912561843, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.015814124160802634, "step_quality_min": -0.8302782577280696, "step_quality_max": 0.5380430438368738, "alignment_signed_mean": -0.6099604165655286, "alignment_abs_mean": 0.6099604165655286, "alignment_min": -0.9630841024473391, "alignment_max": -0.24445809014180256, "door_contact_steps": 6, "path_steps": 22}, {"path_found": true, "path_length": 0.8063023947233297, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020224571228027344, "door_quality": 0.005330870469311497, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.007615529241873568, "step_quality_min": -0.8170458291550237, "step_quality_max": 0.502796679468032, "alignment_signed_mean": -0.6391145019600523, "alignment_abs_mean": 0.6391145019600523, "alignment_min": -0.9635541426288157, "alignment_max": -0.3716753970857184, "door_contact_steps": 6, "path_steps": 22}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22839285172549892, 0.2766854981786538, 1.040930933399053, 0.033168099784097176, 0.7608431318790543, 0.6472852120363604, 0.03224065923997895], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.8499962818599167, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022498607635498047, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.2816998056277372, "step_quality_min": -0.7474541639391633, "step_quality_max": 0.2773891356449595, "alignment_signed_mean": -0.8225958734616065, "alignment_abs_mean": 0.8225958734616065, "alignment_min": -0.968184587749741, "alignment_max": -0.6337397225689384, "door_contact_steps": 5, "path_steps": 22}, {"path_found": true, "path_length": 0.8500711779133147, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022078990936279297, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.23453944041286764, "step_quality_min": -0.726187851081315, "step_quality_max": 0.5369175136139109, "alignment_signed_mean": -0.7956352767484375, "alignment_abs_mean": 0.7956352767484375, "alignment_min": -0.9657679016252029, "alignment_max": -0.4154528677214607, "door_contact_steps": 6, "path_steps": 23}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.2683928517254989, 0.2766854981786538, 1.040930933399053, 0.033168099784097176, 0.7608431318790543, 0.6472852120363604, 0.03224065923997895], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.7688334970826429, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02059340476989746, "door_quality": 0.05666043768550002, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08094348240785718, "step_quality_min": -0.8324480203880346, "step_quality_max": 0.5107611944948806, "alignment_signed_mean": -0.5886756438958859, "alignment_abs_mean": 0.5886756438958859, "alignment_min": -0.9395952620580027, "alignment_max": -0.3547605024401479, "door_contact_steps": 5, "path_steps": 21}, {"path_found": true, "path_length": 0.7688133375833691, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021437644958496094, "door_quality": 0.04997122751530106, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.07138746787900152, "step_quality_min": -0.8366165841318708, "step_quality_max": 0.5073856555685332, "alignment_signed_mean": -0.608184278297461, "alignment_abs_mean": 0.608184278297461, "alignment_min": -0.9388097935528672, "alignment_max": -0.33730592168125945, "door_contact_steps": 5, "path_steps": 21}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474810600280762, "final_height": 1.0474810600280762, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474810600280762}], "score": 0.0007311503092447911}}
+{"frame_index": 208, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.3410562574863434, 0.01093003898859024, 1.1294342279434204, 0.15253955125808716, 0.8278993368148804, 0.5311504006385803, 0.09588411450386047], "right_arm_pose": [0.46877601742744446, -0.5102569460868835, 1.0849850177764893, -0.6257860064506531, 0.5016781687736511, 0.5806411504745483, 0.13988135755062103], "left_arm_joint_positions": [-0.19426941871643066, 0.06959441304206848, -0.22518298029899597, -2.124255895614624, 1.227587103843689, 1.807356834411621, 0.28320157527923584], "right_arm_joint_positions": [0.43384671211242676, -0.047707557678222656, 0.725609302520752, -2.394589900970459, -0.996324896812439, 1.430842638015747, -2.659757375717163], "pregrasp_goal_pose": [0.24839298960582207, 0.2766858914432977, 1.0409280875168883, 0.03316272586820228, 0.7608394047954308, 0.6472895460452984, 0.032247128616301746], "pregrasp_position_error": 0.29503557619620474, "pregrasp_orientation_error_deg": 21.861499171470594}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.022222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 2, "tray_visibility": 0.2543103448275862, "tray_projected_count": 232, "tray_visible_count": 59}, "wrist_left": {"grasp_visibility": 0.027777777777777776, "grasp_projected_count": 36, "grasp_visible_count": 1, "tray_visibility": 0.4636363636363636, "tray_projected_count": 220, "tray_visible_count": 102}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.24839298960582207, 0.2766858914432977, 1.0409280875168883, 0.03316272586820228, 0.7608394047954308, 0.6472895460452984, 0.032247128616301746], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.7567118708426543, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020479679107666016, "door_quality": 0.0005413623632938235, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0007733748047054623, "step_quality_min": -0.8148300211065571, "step_quality_max": 0.5777774083463437, "alignment_signed_mean": -0.5728821408661342, "alignment_abs_mean": 0.5728821408661342, "alignment_min": -0.9345388164898767, "alignment_max": -0.11979139454757874, "door_contact_steps": 6, "path_steps": 21}, {"path_found": true, "path_length": 0.7553834535402353, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02091217041015625, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.14023694764804115, "step_quality_min": -0.8555754892770047, "step_quality_max": 0.3569399084978584, "alignment_signed_mean": -0.7664292625706567, "alignment_abs_mean": 0.7664292625706567, "alignment_min": -0.9675147837840905, "alignment_max": -0.5952292135089996, "door_contact_steps": 6, "path_steps": 21}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22839298960582208, 0.2766858914432977, 1.0409280875168883, 0.03316272586820228, 0.7608394047954308, 0.6472895460452984, 0.032247128616301746], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.8001179532680573, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022475481033325195, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.3056805020108431, "step_quality_min": -0.7649685365059598, "step_quality_max": 0.11601061526984263, "alignment_signed_mean": -0.8560967954701436, "alignment_abs_mean": 0.8560967954701436, "alignment_min": -0.956027769311944, "alignment_max": -0.743175125001269, "door_contact_steps": 6, "path_steps": 22}, {"path_found": true, "path_length": 0.8000984923941904, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023038864135742188, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.3512592652984878, "step_quality_min": -0.7649858883029281, "step_quality_max": 0.03477038926403536, "alignment_signed_mean": -0.879583794170289, "alignment_abs_mean": 0.879583794170289, "alignment_min": -0.9593523907028252, "alignment_max": -0.7793043243088709, "door_contact_steps": 6, "path_steps": 22}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.2683929896058221, 0.2766858914432977, 1.0409280875168883, 0.03316272586820228, 0.7608394047954308, 0.6472895460452984, 0.032247128616301746], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.7171624130893929, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021573305130004883, "door_quality": 0.031225599514044047, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04460799930577721, "step_quality_min": -0.7896332862711862, "step_quality_max": 0.4550593080012688, "alignment_signed_mean": -0.6210711905879065, "alignment_abs_mean": 0.6210711905879065, "alignment_min": -0.9315151211956034, "alignment_max": -0.43496528174048205, "door_contact_steps": 5, "path_steps": 20}, {"path_found": true, "path_length": 0.7172093843292398, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02143120765686035, "door_quality": 0.034031900380198994, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04861700054314142, "step_quality_min": -0.7925183598907766, "step_quality_max": 0.4680426607141932, "alignment_signed_mean": -0.6100460439233202, "alignment_abs_mean": 0.6100460439233202, "alignment_min": -0.9310089221519019, "alignment_max": -0.4091491651485169, "door_contact_steps": 5, "path_steps": 20}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 209, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.34419703483581543, 0.02154584974050522, 1.1239013671875, 0.15122848749160767, 0.8204718232154846, 0.5424941778182983, 0.0982653871178627], "right_arm_pose": [0.4687711298465729, -0.5102646350860596, 1.0849500894546509, -0.6258189678192139, 0.501650333404541, 0.5806169509887695, 0.13993395864963531], "left_arm_joint_positions": [-0.18685317039489746, 0.08031752705574036, -0.21576878428459167, -2.135159492492676, 1.2669280767440796, 1.813772201538086, 0.2607969045639038], "right_arm_joint_positions": [0.4338357448577881, -0.047512054443359375, 0.725618839263916, -2.3946070671081543, -0.9963217973709106, 1.4308228492736816, -2.659768581390381], "pregrasp_goal_pose": [0.24840477797860022, 0.27668559896110795, 1.0409320168385388, 0.033172509521028994, 0.7608421709367695, 0.64728635432282, 0.032235865798416447], "pregrasp_position_error": 0.2848795556081191, "pregrasp_orientation_error_deg": 20.79274549148461}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.2629310344827586, "tray_projected_count": 232, "tray_visible_count": 61}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 18, "grasp_visible_count": 0, "tray_visibility": 0.481651376146789, "tray_projected_count": 218, "tray_visible_count": 105}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.24840477797860022, 0.27668559896110795, 1.0409320168385388, 0.033172509521028994, 0.7608421709367695, 0.64728635432282, 0.032235865798416447], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.7074147569784508, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020211219787597656, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.058555934209890526, "step_quality_min": -0.8256695549419218, "step_quality_max": 0.5248741041042659, "alignment_signed_mean": -0.5411990923669555, "alignment_abs_mean": 0.5917595458284747, "alignment_min": -0.9142160261981956, "alignment_max": 0.12892915632687435, "door_contact_steps": 6, "path_steps": 20}, {"path_found": true, "path_length": 0.7062946686820168, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02073812484741211, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.14992354965483984, "step_quality_min": -0.8229340450958447, "step_quality_max": 0.48080518557644225, "alignment_signed_mean": -0.7687380573566329, "alignment_abs_mean": 0.7687380573566329, "alignment_min": -0.9279919047534484, "alignment_max": -0.5466214262437652, "door_contact_steps": 6, "path_steps": 20}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22840477797860023, 0.27668559896110795, 1.0409320168385388, 0.033172509521028994, 0.7608421709367695, 0.64728635432282, 0.032235865798416447], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.7521498304849533, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022623777389526367, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.2822357939584783, "step_quality_min": -0.6937369749427453, "step_quality_max": 0.5568386632225844, "alignment_signed_mean": -0.7962539804220249, "alignment_abs_mean": 0.7962539804220249, "alignment_min": -0.9342866247762711, "alignment_max": -0.2829930394778984, "door_contact_steps": 6, "path_steps": 21}, {"path_found": true, "path_length": 0.7520498936918917, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0232241153717041, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.28578447778707866, "step_quality_min": -0.6923584764621973, "step_quality_max": 0.4856262738025108, "alignment_signed_mean": -0.8412825344153831, "alignment_abs_mean": 0.8412825344153831, "alignment_min": -0.9210163937978537, "alignment_max": -0.5579784853480546, "door_contact_steps": 6, "path_steps": 21}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.26840477797860024, 0.27668559896110795, 1.0409320168385388, 0.033172509521028994, 0.7608421709367695, 0.64728635432282, 0.032235865798416447], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.6671552469934712, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020458459854125977, "door_quality": 0.027419112493155803, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.039170160704508294, "step_quality_min": -0.7342971514033991, "step_quality_max": 0.4499534089747206, "alignment_signed_mean": -0.6235056600948762, "alignment_abs_mean": 0.6235056600948762, "alignment_min": -0.9177127060445366, "alignment_max": -0.44462655926513944, "door_contact_steps": 5, "path_steps": 19}, {"path_found": true, "path_length": 0.6670308474395523, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02034759521484375, "door_quality": 0.031330028799851965, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.04475718399978852, "step_quality_min": -0.7357315348325953, "step_quality_max": 0.4954038040631009, "alignment_signed_mean": -0.6032666888715273, "alignment_abs_mean": 0.6032666888715273, "alignment_min": -0.918154666601546, "alignment_max": -0.3656247174774641, "door_contact_steps": 5, "path_steps": 19}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 210, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.34731751680374146, 0.0322895348072052, 1.1182223558425903, 0.14995077252388, 0.812842071056366, 0.5538326501846313, 0.10035921633243561], "right_arm_pose": [0.4687637686729431, -0.510263979434967, 1.0849475860595703, -0.6258158087730408, 0.5016646981239319, 0.5806112289428711, 0.13992059230804443], "left_arm_joint_positions": [-0.17948484420776367, 0.09267047047615051, -0.20598384737968445, -2.144657611846924, 1.3067694902420044, 1.8185014724731445, 0.23790395259857178], "right_arm_joint_positions": [0.43383288383483887, -0.047487735748291016, 0.7256031036376953, -2.394440174102783, -0.9963635206222534, 1.4308793544769287, -2.659771680831909], "pregrasp_goal_pose": [0.24839230411915525, 0.2766860750754967, 1.0409293460735245, 0.03316715689281463, 0.7608393850556279, 0.6472896015956393, 0.03224192174762392], "pregrasp_position_error": 0.2747545740455692, "pregrasp_orientation_error_deg": 19.778497490315843}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.25862068965517243, "tray_projected_count": 232, "tray_visible_count": 60}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 5, "grasp_visible_count": 0, "tray_visibility": 0.40825688073394495, "tray_projected_count": 218, "tray_visible_count": 89}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.24839230411915525, 0.2766860750754967, 1.0409293460735245, 0.03316715689281463, 0.7608393850556279, 0.6472896015956393, 0.03224192174762392], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.6594065944051868, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02053666114807129, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.16602276390062537, "step_quality_min": -0.6996586489148434, "step_quality_max": 0.35037252186390355, "alignment_signed_mean": -0.7757584885745467, "alignment_abs_mean": 0.7757584885745467, "alignment_min": -0.9076497565969027, "alignment_max": -0.584885604870524, "door_contact_steps": 5, "path_steps": 19}, {"path_found": true, "path_length": 0.6583888684046131, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02075505256652832, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.1628930661188913, "step_quality_min": -0.6897373805109064, "step_quality_max": 0.49100342994474966, "alignment_signed_mean": -0.7565883452364143, "alignment_abs_mean": 0.7565883452364143, "alignment_min": -0.9011589439350032, "alignment_max": -0.4466351863968569, "door_contact_steps": 5, "path_steps": 19}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22839230411915526, 0.2766860750754967, 1.0409293460735245, 0.03316715689281463, 0.7608393850556279, 0.6472896015956393, 0.03224192174762392], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.705741802426252, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022106409072875977, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.4024900796955933, "step_quality_min": -0.7347686991979372, "step_quality_max": -0.098498948672893, "alignment_signed_mean": -0.9164206645732487, "alignment_abs_mean": 0.9164206645732487, "alignment_min": -0.9792194020437835, "alignment_max": -0.8475556482053953, "door_contact_steps": 6, "path_steps": 20}, {"path_found": true, "path_length": 0.7057849724521605, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02140665054321289, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.31722016471593345, "step_quality_min": -0.7271733933285167, "step_quality_max": 0.2875006198450654, "alignment_signed_mean": -0.8689537128890845, "alignment_abs_mean": 0.8689537128890845, "alignment_min": -0.9782195144054155, "alignment_max": -0.6601289658282884, "door_contact_steps": 6, "path_steps": 20}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.26839230411915527, 0.2766860750754967, 1.0409293460735245, 0.03316715689281463, 0.7608393850556279, 0.6472896015956393, 0.03224192174762392], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.6177416682953109, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019513845443725586, "door_quality": 0.016990700761764385, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.02427242965966341, "step_quality_min": -0.6717527649024847, "step_quality_max": 0.5162685167675404, "alignment_signed_mean": -0.5762163243877225, "alignment_abs_mean": 0.5762163243877225, "alignment_min": -0.9085955858173527, "alignment_max": -0.28603708153705387, "door_contact_steps": 5, "path_steps": 18}, {"path_found": true, "path_length": 0.6177567736615551, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019198894500732422, "door_quality": 0.020466458514862586, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.029237797878375126, "step_quality_min": -0.6677955465701189, "step_quality_max": 0.5243204891377108, "alignment_signed_mean": -0.5689756011340659, "alignment_abs_mean": 0.5689756011340659, "alignment_min": -0.9069865284267586, "alignment_max": -0.2658639849755086, "door_contact_steps": 5, "path_steps": 18}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 211, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.0474820137023926, "tray_grasped_left": false, "left_arm_pose": [0.3503829538822174, 0.04301522299647331, 1.1125540733337402, 0.14867882430553436, 0.8049943447113037, 0.5651671886444092, 0.10229737311601639], "right_arm_pose": [0.4687601923942566, -0.5102498531341553, 1.0849536657333374, -0.6258035898208618, 0.5016576051712036, 0.5806309580802917, 0.1399184763431549], "left_arm_joint_positions": [-0.17235159873962402, 0.10595133900642395, -0.1961054503917694, -2.152495861053467, 1.3467308282852173, 1.8215420246124268, 0.214635968208313], "right_arm_joint_positions": [0.43382906913757324, -0.04751896858215332, 0.7255892753601074, -2.3945751190185547, -0.9963489770889282, 1.4308795928955078, -2.659740447998047], "pregrasp_goal_pose": [0.24839293826758146, 0.2766854544715387, 1.0409315164889117, 0.03316948529205196, 0.7608436704332526, 0.6472845829496915, 0.032239154498223566], "pregrasp_position_error": 0.2648273607686241, "pregrasp_orientation_error_deg": 18.830647367271276}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.2629310344827586, "tray_projected_count": 232, "tray_visible_count": 61}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.42592592592592593, "tray_projected_count": 216, "tray_visible_count": 92}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.24839293826758146, 0.2766854544715387, 1.0409315164889117, 0.03316948529205196, 0.7608436704332526, 0.6472845829496915, 0.032239154498223566], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.6130863851576248, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020697832107543945, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.38919003598915153, "step_quality_min": -0.6003426597918969, "step_quality_max": -0.17682523553711182, "alignment_signed_mean": -0.8911123351019433, "alignment_abs_mean": 0.8911123351019433, "alignment_min": -0.9510619761749876, "alignment_max": -0.8307601084123603, "door_contact_steps": 5, "path_steps": 18}, {"path_found": true, "path_length": 0.6120580017494319, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021170616149902344, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.35976528516348416, "step_quality_min": -0.6139272356519487, "step_quality_max": -0.041738206095892794, "alignment_signed_mean": -0.8730054824473883, "alignment_abs_mean": 0.8730054824473883, "alignment_min": -0.9317258226206057, "alignment_max": -0.7718122584502007, "door_contact_steps": 5, "path_steps": 18}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22839293826758147, 0.2766854544715387, 1.0409315164889117, 0.03316948529205196, 0.7608436704332526, 0.6472845829496915, 0.032239154498223566], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.6615182611471027, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02199268341064453, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.46404444685612106, "step_quality_min": -0.5810517961905273, "step_quality_max": -0.36023861186262157, "alignment_signed_mean": -0.9232364393475583, "alignment_abs_mean": 0.9232364393475583, "alignment_min": -0.9640196609525007, "alignment_max": -0.8204470545618993, "door_contact_steps": 5, "path_steps": 19}, {"path_found": true, "path_length": 0.6614962676847383, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02165985107421875, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.4452782252424977, "step_quality_min": -0.5640005290152599, "step_quality_max": -0.32384149979313837, "alignment_signed_mean": -0.9153303039119652, "alignment_abs_mean": 0.9153303039119652, "alignment_min": -0.9594178950265149, "alignment_max": -0.817563746399523, "door_contact_steps": 5, "path_steps": 19}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.2683929382675815, 0.2766854544715387, 1.0409315164889117, 0.03316948529205196, 0.7608436704332526, 0.6472845829496915, 0.032239154498223566], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.5697857086252298, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01871180534362793, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.015671225919693145, "step_quality_min": -0.5873251707516426, "step_quality_max": 0.581465441031134, "alignment_signed_mean": -0.5520790570323189, "alignment_abs_mean": 0.5629874974047699, "alignment_min": -0.9210428930193523, "alignment_max": 0.0250894128566387, "door_contact_steps": 5, "path_steps": 17}, {"path_found": true, "path_length": 0.5698136615393417, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01885223388671875, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.019147271759254948, "step_quality_min": -0.5821687588722506, "step_quality_max": 0.5889701372265431, "alignment_signed_mean": -0.5574616200187361, "alignment_abs_mean": 0.5586558893562797, "alignment_min": -0.9227048346795949, "alignment_max": 0.0027468194763508305, "door_contact_steps": 5, "path_steps": 17}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474810600280762, "final_height": 1.0474810600280762, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474810600280762}], "score": 0.0007311503092447911}}
+{"frame_index": 212, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.047481894493103, "tray_grasped_left": false, "left_arm_pose": [0.3534354269504547, 0.05370941013097763, 1.107203483581543, 0.14717654883861542, 0.7971192002296448, 0.5762420296669006, 0.1043320819735527], "right_arm_pose": [0.46875956654548645, -0.510249137878418, 1.084992527961731, -0.6257750391960144, 0.5016791224479675, 0.5806530117988586, 0.1398777812719345], "left_arm_joint_positions": [-0.16529226303100586, 0.11987093091011047, -0.1859714686870575, -2.1587135791778564, 1.386297345161438, 1.8232405185699463, 0.19112741947174072], "right_arm_joint_positions": [0.433849573135376, -0.047676801681518555, 0.7256002426147461, -2.394613742828369, -0.9963639974594116, 1.430866003036499, -2.6597323417663574], "pregrasp_goal_pose": [0.248378458390575, 0.2766861748628648, 1.0409297204045065, 0.033167971431838326, 0.7608403876277098, 0.6472884294488747, 0.03224095729382594], "pregrasp_position_error": 0.2552407019637284, "pregrasp_orientation_error_deg": 17.976364515683493}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.2543103448275862, "tray_projected_count": 232, "tray_visible_count": 59}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.4174757281553398, "tray_projected_count": 206, "tray_visible_count": 86}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.248378458390575, 0.2766861748628648, 1.0409297204045065, 0.033167971431838326, 0.7608403876277098, 0.6472884294488747, 0.03224095729382594], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.5694567927456503, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021113157272338867, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.4379800331120757, "step_quality_min": -0.5179867925392692, "step_quality_max": -0.27783245499726433, "alignment_signed_mean": -0.9179642811997164, "alignment_abs_mean": 0.9179642811997164, "alignment_min": -0.9639767245369231, "alignment_max": -0.849054125401423, "door_contact_steps": 5, "path_steps": 17}, {"path_found": true, "path_length": 0.5684428422750337, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021895408630371094, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.4393183423977057, "step_quality_min": -0.5379101991448826, "step_quality_max": -0.3753800322340589, "alignment_signed_mean": -0.9141102637889986, "alignment_abs_mean": 0.9141102637889986, "alignment_min": -0.9534801761117532, "alignment_max": -0.8523635601777205, "door_contact_steps": 5, "path_steps": 17}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22837845839057502, 0.2766861748628648, 1.0409297204045065, 0.033167971431838326, 0.7608403876277098, 0.6472884294488747, 0.03224095729382594], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.6203215716659254, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022757768630981445, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.42356770412640216, "step_quality_min": -0.4857006710426799, "step_quality_max": -0.38100649323631486, "alignment_signed_mean": -0.902374239433289, "alignment_abs_mean": 0.902374239433289, "alignment_min": -0.9547983302733836, "alignment_max": -0.8102448228532406, "door_contact_steps": 5, "path_steps": 18}, {"path_found": true, "path_length": 0.6203086515779797, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022663116455078125, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.40257989016902257, "step_quality_min": -0.4666268180297523, "step_quality_max": -0.3285101539287112, "alignment_signed_mean": -0.8915818998786824, "alignment_abs_mean": 0.8915818998786824, "alignment_min": -0.939481116763972, "alignment_max": -0.8104375154024451, "door_contact_steps": 5, "path_steps": 18}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.268378458390575, 0.2766861748628648, 1.0409297204045065, 0.033167971431838326, 0.7608403876277098, 0.6472884294488747, 0.03224095729382594], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.5240931340998897, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.018856525421142578, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.11730913715935624, "step_quality_min": -0.6315293770149552, "step_quality_max": 0.5143431031519188, "alignment_signed_mean": -0.6831897793459301, "alignment_abs_mean": 0.6831897793459301, "alignment_min": -0.9290214673747107, "alignment_max": -0.2484572709530526, "door_contact_steps": 5, "path_steps": 16}, {"path_found": true, "path_length": 0.5240816731529324, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01856374740600586, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.10812150574891655, "step_quality_min": -0.6318173447085021, "step_quality_max": 0.5055498583242143, "alignment_signed_mean": -0.693531663958908, "alignment_abs_mean": 0.693531663958908, "alignment_min": -0.9375150678616192, "alignment_max": -0.3165633762256083, "door_contact_steps": 5, "path_steps": 16}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 213, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.3564853072166443, 0.06429659575223923, 1.1018142700195312, 0.14574532210826874, 0.7891570925712585, 0.5870826840400696, 0.1064111664891243], "right_arm_pose": [0.46876341104507446, -0.5102378726005554, 1.0849947929382324, -0.6257756948471069, 0.5016797780990601, 0.5806475281715393, 0.13989566266536713], "left_arm_joint_positions": [-0.15842413902282715, 0.13522866368293762, -0.1756417453289032, -2.1640000343322754, 1.4256998300552368, 1.8238201141357422, 0.167322039604187], "right_arm_joint_positions": [0.4338240623474121, -0.04756307601928711, 0.7255823612213135, -2.3946714401245117, -0.9963613748550415, 1.4308366775512695, -2.6597352027893066], "pregrasp_goal_pose": [0.24839196598829888, 0.27668529403801734, 1.0409293421942465, 0.033163086184492575, 0.7608424433193224, 0.6472859782059472, 0.032246683187170375], "pregrasp_position_error": 0.2459676889628492, "pregrasp_orientation_error_deg": 17.24364360607347}, "visibility": {"best_grasp_visibility_camera": "wrist_right", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.011111111111111112, "grasp_projected_count": 90, "grasp_visible_count": 1, "tray_visibility": 0.25, "tray_projected_count": 232, "tray_visible_count": 58}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.43414634146341463, "tray_projected_count": 205, "tray_visible_count": 89}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.24839196598829888, 0.27668529403801734, 1.0409293421942465, 0.033163086184492575, 0.7608424433193224, 0.6472859782059472, 0.032246683187170375], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.5284314593532448, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021483898162841797, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.46707796551153563, "step_quality_min": -0.6106944028397798, "step_quality_max": -0.23556061920229704, "alignment_signed_mean": -0.9388635211467355, "alignment_abs_mean": 0.9388635211467355, "alignment_min": -0.9930945325363418, "alignment_max": -0.8419053263378149, "door_contact_steps": 5, "path_steps": 16}, {"path_found": true, "path_length": 0.5275300888563832, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02182745933532715, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.4721990629289288, "step_quality_min": -0.6046075029310377, "step_quality_max": -0.24928082992087514, "alignment_signed_mean": -0.9395583438561073, "alignment_abs_mean": 0.9395583438561073, "alignment_min": -0.9915659375641181, "alignment_max": -0.8437071360703803, "door_contact_steps": 5, "path_steps": 16}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.2283919659882989, 0.27668529403801734, 1.0409293421942465, 0.033163086184492575, 0.7608424433193224, 0.6472859782059472, 0.032246683187170375], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.5820408623995604, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02259349822998047, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.38977931013885786, "step_quality_min": -0.47478074347391624, "step_quality_max": -0.22445727942692173, "alignment_signed_mean": -0.8906599637340911, "alignment_abs_mean": 0.8906599637340911, "alignment_min": -0.9499651898049756, "alignment_max": -0.8067688966649985, "door_contact_steps": 5, "path_steps": 17}, {"path_found": true, "path_length": 0.5819978167435785, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02193760871887207, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.37268376578801016, "step_quality_min": -0.4767406176869003, "step_quality_max": -0.21763513257619543, "alignment_signed_mean": -0.8846924992111806, "alignment_abs_mean": 0.8846924992111806, "alignment_min": -0.9651830525904935, "alignment_max": -0.8061343091785748, "door_contact_steps": 5, "path_steps": 17}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.2683919659882989, 0.27668529403801734, 1.0409293421942465, 0.033163086184492575, 0.7608424433193224, 0.6472859782059472, 0.032246683187170375], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.4805745476145344, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.018602609634399414, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.24556638539129624, "step_quality_min": -0.7233892390950056, "step_quality_max": 0.15629485398927057, "alignment_signed_mean": -0.8169469538583668, "alignment_abs_mean": 0.8169469538583668, "alignment_min": -0.8923129581579767, "alignment_max": -0.6875835592639645, "door_contact_steps": 5, "path_steps": 15}, {"path_found": true, "path_length": 0.4805950686607955, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.018898963928222656, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.2952582411017654, "step_quality_min": -0.7322705337168938, "step_quality_max": -0.0498519691329784, "alignment_signed_mean": -0.8456860602081426, "alignment_abs_mean": 0.8456860602081426, "alignment_min": -0.8954051352331895, "alignment_max": -0.789072615670099, "door_contact_steps": 5, "path_steps": 15}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 214, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.0474820137023926, "tray_grasped_left": false, "left_arm_pose": [0.35952651500701904, 0.0746859759092331, 1.0964292287826538, 0.14437104761600494, 0.7811351418495178, 0.5976767539978027, 0.10847733169794083], "right_arm_pose": [0.46875494718551636, -0.5102625489234924, 1.0849899053573608, -0.6257854700088501, 0.5016880631446838, 0.5806297659873962, 0.13989554345607758], "left_arm_joint_positions": [-0.15199637413024902, 0.15125086903572083, -0.16527292132377625, -2.1677048206329346, 1.4646023511886597, 1.8231706619262695, 0.14343607425689697], "right_arm_joint_positions": [0.43383097648620605, -0.04760289192199707, 0.7255797386169434, -2.39447021484375, -0.9963589906692505, 1.4308407306671143, -2.6597609519958496], "pregrasp_goal_pose": [0.24840549907326756, 0.27668579083982914, 1.0409302879620166, 0.03316474178536857, 0.7608440941535013, 0.647284037774552, 0.032244980017363964], "pregrasp_position_error": 0.23713274309204263, "pregrasp_orientation_error_deg": 16.64059457955065}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.2413793103448276, "tray_projected_count": 232, "tray_visible_count": 56}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.47029702970297027, "tray_projected_count": 202, "tray_visible_count": 95}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.24840549907326756, 0.27668579083982914, 1.0409302879620166, 0.03316474178536857, 0.7608440941535013, 0.647284037774552, 0.032244980017363964], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.49106427697527805, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020876646041870117, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.4445676805756681, "step_quality_min": -0.499870768569559, "step_quality_max": -0.3933555702565492, "alignment_signed_mean": -0.8930353518867932, "alignment_abs_mean": 0.8930353518867932, "alignment_min": -0.9324895741705249, "alignment_max": -0.795186322416474, "door_contact_steps": 4, "path_steps": 15}, {"path_found": true, "path_length": 0.4902748875057201, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01998305320739746, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.43222111730995505, "step_quality_min": -0.4975827595219246, "step_quality_max": -0.340482347933432, "alignment_signed_mean": -0.8924590652106497, "alignment_abs_mean": 0.8924590652106497, "alignment_min": -0.94622222261944, "alignment_max": -0.7937434810028269, "door_contact_steps": 4, "path_steps": 15}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22840549907326757, 0.27668579083982914, 1.0409302879620166, 0.03316474178536857, 0.7608440941535013, 0.647284037774552, 0.032244980017363964], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.5478775760799796, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020021915435791016, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.3657329325811692, "step_quality_min": -0.4123392261230258, "step_quality_max": -0.3193731875145478, "alignment_signed_mean": -0.8592397913303872, "alignment_abs_mean": 0.8592397913303872, "alignment_min": -0.9134386447695292, "alignment_max": -0.7347655819884666, "door_contact_steps": 4, "path_steps": 16}, {"path_found": true, "path_length": 0.5478447731907176, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020849943161010742, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.37111947722671423, "step_quality_min": -0.41502130375967866, "step_quality_max": -0.31033730610455035, "alignment_signed_mean": -0.8565907560695698, "alignment_abs_mean": 0.8565907560695698, "alignment_min": -0.9000031806720413, "alignment_max": -0.7376864576607597, "door_contact_steps": 4, "path_steps": 16}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.26840549907326755, 0.27668579083982914, 1.0409302879620166, 0.03316474178536857, 0.7608440941535013, 0.647284037774552, 0.032244980017363964], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.4402397405447954, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0183260440826416, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.4107334446316028, "step_quality_min": -0.5680068717097784, "step_quality_max": -0.30605538246039055, "alignment_signed_mean": -0.8919882086435006, "alignment_abs_mean": 0.8919882086435006, "alignment_min": -0.933408278553432, "alignment_max": -0.8601359871848018, "door_contact_steps": 4, "path_steps": 14}, {"path_found": true, "path_length": 0.44019306246951045, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.018558979034423828, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.4342683394231892, "step_quality_min": -0.5765585214209721, "step_quality_max": -0.26292820407425677, "alignment_signed_mean": -0.9034398335802213, "alignment_abs_mean": 0.9034398335802213, "alignment_min": -0.9686524414938325, "alignment_max": -0.8579321418407342, "door_contact_steps": 4, "path_steps": 14}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474809408187866, "final_height": 1.0474809408187866, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474809408187866}], "score": 0.0007307529449462885}}
+{"frame_index": 215, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.3624958097934723, 0.08502238988876343, 1.091137170791626, 0.14293129742145538, 0.772991955280304, 0.6081397533416748, 0.1105445995926857], "right_arm_pose": [0.46874892711639404, -0.5102686882019043, 1.0850224494934082, -0.6257651448249817, 0.5017152428627014, 0.5806400179862976, 0.13984636962413788], "left_arm_joint_positions": [-0.14574718475341797, 0.16779735684394836, -0.15456315875053406, -2.1702022552490234, 1.5030549764633179, 1.8212192058563232, 0.11943662166595459], "right_arm_joint_positions": [0.43383169174194336, -0.04763984680175781, 0.7255740165710449, -2.394625186920166, -0.9963282346725464, 1.430851697921753, -2.6597397327423096], "pregrasp_goal_pose": [0.24839281899844384, 0.27668502805437006, 1.0409302232968003, 0.03316856002263922, 0.7608407308632923, 0.6472880177467614, 0.03224051747264685], "pregrasp_position_error": 0.22863682326720422, "pregrasp_orientation_error_deg": 16.162115178624603}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.22844827586206898, "tray_projected_count": 232, "tray_visible_count": 53}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.4427083333333333, "tray_projected_count": 192, "tray_visible_count": 85}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.24839281899844384, 0.27668502805437006, 1.0409302232968003, 0.03316856002263922, 0.7608407308632923, 0.6472880177467614, 0.03224051747264685], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.4578679379723273, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020905256271362305, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.36933166632035397, "step_quality_min": -0.5224028670165276, "step_quality_max": -0.25525624817324544, "alignment_signed_mean": -0.8872385519685819, "alignment_abs_mean": 0.8872385519685819, "alignment_min": -0.9711400138213394, "alignment_max": -0.7900524343619497, "door_contact_steps": 5, "path_steps": 15}, {"path_found": true, "path_length": 0.45708145422030316, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020696163177490234, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.3472557863817832, "step_quality_min": -0.40496006263898093, "step_quality_max": -0.26575565809876356, "alignment_signed_mean": -0.8760509275645236, "alignment_abs_mean": 0.8760509275645236, "alignment_min": -0.9612681798064622, "alignment_max": -0.7951441370781417, "door_contact_steps": 5, "path_steps": 15}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22839281899844385, 0.27668502805437006, 1.0409302232968003, 0.03316856002263922, 0.7608407308632923, 0.6472880177467614, 0.03224051747264685], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.5180364231046625, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024033069610595703, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.33916693523405506, "step_quality_min": -0.4832510100940566, "step_quality_max": -0.1395152738093411, "alignment_signed_mean": -0.85775051908124, "alignment_abs_mean": 0.85775051908124, "alignment_min": -0.963296536672971, "alignment_max": -0.7103693892312389, "door_contact_steps": 5, "path_steps": 16}, {"path_found": true, "path_length": 0.5180253367166642, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023903369903564453, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.3540162931731401, "step_quality_min": -0.5202888381477861, "step_quality_max": -0.11636693578823026, "alignment_signed_mean": -0.8667322789167858, "alignment_abs_mean": 0.8667322789167858, "alignment_min": -0.9717889420770194, "alignment_max": -0.7073085165854097, "door_contact_steps": 5, "path_steps": 16}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.26839281899844386, 0.27668502805437006, 1.0409302232968003, 0.03316856002263922, 0.7608407308632923, 0.6472880177467614, 0.03224051747264685], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.4035997030649063, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019265413284301758, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.4478822711489399, "step_quality_min": -0.5680684947029238, "step_quality_max": -0.3858431975761135, "alignment_signed_mean": -0.9371519459578269, "alignment_abs_mean": 0.9371519459578269, "alignment_min": -0.9875630319313797, "alignment_max": -0.8508718389165073, "door_contact_steps": 5, "path_steps": 14}, {"path_found": true, "path_length": 0.4036136253388256, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01873159408569336, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.3660359459907623, "step_quality_min": -0.5099260953038302, "step_quality_max": -0.24827732592803997, "alignment_signed_mean": -0.8928175054358042, "alignment_abs_mean": 0.8928175054358042, "alignment_min": -0.9858524803414883, "alignment_max": -0.7896339227810809, "door_contact_steps": 5, "path_steps": 14}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 216, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.0474820137023926, "tray_grasped_left": false, "left_arm_pose": [0.3655261993408203, 0.09532012045383453, 1.0856635570526123, 0.14155139029026031, 0.7647948861122131, 0.6183912754058838, 0.11244644969701767], "right_arm_pose": [0.4687649607658386, -0.5102713108062744, 1.0850077867507935, -0.6257800459861755, 0.5017028450965881, 0.580631673336029, 0.13985876739025116], "left_arm_joint_positions": [-0.13959503173828125, 0.18613365292549133, -0.14378663897514343, -2.171220541000366, 1.5410600900650024, 1.818023920059204, 0.09539544582366943], "right_arm_joint_positions": [0.43383073806762695, -0.04758882522583008, 0.7255716323852539, -2.394522190093994, -0.9963513612747192, 1.4308545589447021, -2.659740924835205], "pregrasp_goal_pose": [0.24837780725039954, 0.2766862317934655, 1.0409300682172389, 0.03316639058828207, 0.7608421377388365, 0.6472863677586577, 0.032242674984356116], "pregrasp_position_error": 0.22049602521409511, "pregrasp_orientation_error_deg": 15.820592628158114}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.21982758620689655, "tray_projected_count": 232, "tray_visible_count": 51}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.4842105263157895, "tray_projected_count": 190, "tray_visible_count": 92}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.24837780725039954, 0.2766862317934655, 1.0409300682172389, 0.03316639058828207, 0.7608421377388365, 0.6472863677586577, 0.032242674984356116], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.43000703502024074, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01995062828063965, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.36277035138354013, "step_quality_min": -0.3874438626063618, "step_quality_max": -0.33837066130992727, "alignment_signed_mean": -0.858582731612182, "alignment_abs_mean": 0.858582731612182, "alignment_min": -0.9224010703851376, "alignment_max": -0.7186161207876026, "door_contact_steps": 4, "path_steps": 14}, {"path_found": true, "path_length": 0.42943546063447147, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019548416137695312, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.35413231170030746, "step_quality_min": -0.4113335994730704, "step_quality_max": -0.2848115120079865, "alignment_signed_mean": -0.8566993831038715, "alignment_abs_mean": 0.8566993831038715, "alignment_min": -0.938434148831832, "alignment_max": -0.718927082840577, "door_contact_steps": 4, "path_steps": 14}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22837780725039955, 0.2766862317934655, 1.0409300682172389, 0.03316639058828207, 0.7608421377388365, 0.6472863677586577, 0.032242674984356116], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.49367715983773824, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.022151947021484375, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.31166908258363335, "step_quality_min": -0.408554586690996, "step_quality_max": -0.1760068102237759, "alignment_signed_mean": -0.8191805892821332, "alignment_abs_mean": 0.8191805892821332, "alignment_min": -0.9199163392033965, "alignment_max": -0.6651571509303197, "door_contact_steps": 4, "path_steps": 15}, {"path_found": true, "path_length": 0.49363218518226476, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021867036819458008, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.291748062124794, "step_quality_min": -0.41567761115952173, "step_quality_max": -0.10079993890664102, "alignment_signed_mean": -0.8106856142095527, "alignment_abs_mean": 0.8106856142095527, "alignment_min": -0.9108074217741886, "alignment_max": -0.6655919958360257, "door_contact_steps": 4, "path_steps": 15}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.26837780725039956, 0.2766862317934655, 1.0409300682172389, 0.03316639058828207, 0.7608421377388365, 0.6472863677586577, 0.032242674984356116], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.3720522139326433, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.018523693084716797, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.289676535900394, "step_quality_min": -0.5711167814589335, "step_quality_max": -0.08319190186756342, "alignment_signed_mean": -0.8524729410654276, "alignment_abs_mean": 0.8524729410654276, "alignment_min": -0.9345035491220015, "alignment_max": -0.7501707104948528, "door_contact_steps": 5, "path_steps": 13}, {"path_found": true, "path_length": 0.3720974158903925, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01816868782043457, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.27754055829594726, "step_quality_min": -0.5694939906240977, "step_quality_max": -0.08476494217366037, "alignment_signed_mean": -0.8469971499735758, "alignment_abs_mean": 0.8469971499735758, "alignment_min": -0.918423803507448, "alignment_max": -0.7488981405758528, "door_contact_steps": 5, "path_steps": 13}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474809408187866, "final_height": 1.0474809408187866, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474809408187866}], "score": 0.0007307529449462885}}
+{"frame_index": 217, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.0474820137023926, "tray_grasped_left": false, "left_arm_pose": [0.3685072660446167, 0.10569652915000916, 1.0801664590835571, 0.14014604687690735, 0.7564804553985596, 0.6285236477851868, 0.11425648629665375], "right_arm_pose": [0.46875280141830444, -0.5102713108062744, 1.084985613822937, -0.6257920861244202, 0.5016918778419495, 0.5806204080581665, 0.13989070057868958], "left_arm_joint_positions": [-0.1337296962738037, 0.20560219883918762, -0.1326579749584198, -2.1711223125457764, 1.5784481763839722, 1.8137538433074951, 0.07147276401519775], "right_arm_joint_positions": [0.43382716178894043, -0.04749107360839844, 0.725571870803833, -2.3945446014404297, -0.9963535070419312, 1.430866003036499, -2.6597704887390137], "pregrasp_goal_pose": [0.24839305253759325, 0.2766855847685178, 1.0409289708907261, 0.03316548504057046, 0.7608399699889917, 0.6472889020619598, 0.03224388215765442], "pregrasp_position_error": 0.2126129391815155, "pregrasp_orientation_error_deg": 15.615919705540673}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.21551724137931033, "tray_projected_count": 232, "tray_visible_count": 50}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.5210526315789473, "tray_projected_count": 190, "tray_visible_count": 99}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.24839305253759325, 0.2766855847685178, 1.0409289708907261, 0.03316548504057046, 0.7608399699889917, 0.6472889020619598, 0.03224388215765442], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.4079985687323903, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021209001541137695, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.17280207630060423, "step_quality_min": -0.37632448256468065, "step_quality_max": 0.1832225504784174, "alignment_signed_mean": -0.7619885362190252, "alignment_abs_mean": 0.7619885362190252, "alignment_min": -0.9330831262860503, "alignment_max": -0.469793467090335, "door_contact_steps": 5, "path_steps": 14}, {"path_found": true, "path_length": 0.40766974503969816, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02115631103515625, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.16798013996107355, "step_quality_min": -0.40385255399152803, "step_quality_max": 0.1881178003284778, "alignment_signed_mean": -0.7581684954918405, "alignment_abs_mean": 0.7581684954918405, "alignment_min": -0.9480505879481447, "alignment_max": -0.46325821591742516, "door_contact_steps": 5, "path_steps": 14}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22839305253759326, 0.2766855847685178, 1.0409289708907261, 0.03316548504057046, 0.7608399699889917, 0.6472889020619598, 0.03224388215765442], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.474912870130775, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02417755126953125, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.2458540869335156, "step_quality_min": -0.4281150768676979, "step_quality_max": 0.08021345771147914, "alignment_signed_mean": -0.8037558711553673, "alignment_abs_mean": 0.8037558711553673, "alignment_min": -0.9118902237952164, "alignment_max": -0.5209955852829361, "door_contact_steps": 5, "path_steps": 15}, {"path_found": true, "path_length": 0.47503028902004835, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0237734317779541, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.2356326970718937, "step_quality_min": -0.4151195411175394, "step_quality_max": 0.07544737388632039, "alignment_signed_mean": -0.8004584193949913, "alignment_abs_mean": 0.8004584193949913, "alignment_min": -0.9150693224532838, "alignment_max": -0.5220570301045306, "door_contact_steps": 5, "path_steps": 15}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.26839305253759327, 0.2766855847685178, 1.0409289708907261, 0.03316548504057046, 0.7608399699889917, 0.6472889020619598, 0.03224388215765442], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.34618594293093324, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01749706268310547, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.31909418027173597, "step_quality_min": -0.5044683202840006, "step_quality_max": -0.03301663820865014, "alignment_signed_mean": -0.8539442805153991, "alignment_abs_mean": 0.8539442805153991, "alignment_min": -0.9729515065338394, "alignment_max": -0.7015105467076496, "door_contact_steps": 4, "path_steps": 12}, {"path_found": true, "path_length": 0.3462318818360969, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.018342018127441406, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.32902355306555936, "step_quality_min": -0.4916250810722335, "step_quality_max": -0.05347219575076251, "alignment_signed_mean": -0.8534763327086176, "alignment_abs_mean": 0.8534763327086176, "alignment_min": -0.9670243128815975, "alignment_max": -0.7054279975775367, "door_contact_steps": 4, "path_steps": 12}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 218, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.0474820137023926, "tray_grasped_left": false, "left_arm_pose": [0.37165433168411255, 0.11548251658678055, 1.0748291015625, 0.13906678557395935, 0.7484264969825745, 0.6378679275512695, 0.11680237203836441], "right_arm_pose": [0.468766450881958, -0.5102863311767578, 1.0850725173950195, -0.6257503628730774, 0.5017343163490295, 0.5806534886360168, 0.13978786766529083], "left_arm_joint_positions": [-0.12823128700256348, 0.2249315083026886, -0.12155410647392273, -2.169372797012329, 1.6149076223373413, 1.8104164600372314, 0.047710299491882324], "right_arm_joint_positions": [0.4338502883911133, -0.0477294921875, 0.7255842685699463, -2.394449234008789, -0.9963630437850952, 1.4308898448944092, -2.6597423553466797], "pregrasp_goal_pose": [0.2483921029420934, 0.27668516848401137, 1.0409319199271425, 0.03317122537500251, 0.7608433784499771, 0.6472849450671523, 0.0322369844334021], "pregrasp_position_error": 0.2057398622920946, "pregrasp_orientation_error_deg": 15.643724529201043}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.21551724137931033, "tray_projected_count": 232, "tray_visible_count": 50}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.48404255319148937, "tray_projected_count": 188, "tray_visible_count": 91}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.2483921029420934, 0.27668516848401137, 1.0409319199271425, 0.03317122537500251, 0.7608433784499771, 0.6472849450671523, 0.0322369844334021], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.39288906443919197, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020496845245361328, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.22068550021611075, "step_quality_min": -0.45442459865017565, "step_quality_max": 0.2576277585821949, "alignment_signed_mean": -0.7768189173149589, "alignment_abs_mean": 0.7768189173149589, "alignment_min": -0.9477871322411022, "alignment_max": -0.5115428706022089, "door_contact_steps": 4, "path_steps": 13}, {"path_found": true, "path_length": 0.392535491520887, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020615339279174805, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.21515820637789457, "step_quality_min": -0.4612213362280535, "step_quality_max": 0.27199575732739145, "alignment_signed_mean": -0.771813447484742, "alignment_abs_mean": 0.771813447484742, "alignment_min": -0.9467392725735572, "alignment_max": -0.5076521719201716, "door_contact_steps": 4, "path_steps": 13}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22839210294209342, 0.27668516848401137, 1.0409319199271425, 0.03317122537500251, 0.7608433784499771, 0.6472849450671523, 0.0322369844334021], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.4628273824032366, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024444103240966797, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.20526449148223663, "step_quality_min": -0.41711479852374445, "step_quality_max": 0.23371214863416834, "alignment_signed_mean": -0.7661806551219723, "alignment_abs_mean": 0.7661806551219723, "alignment_min": -0.9270664370708972, "alignment_max": -0.43770384804619994, "door_contact_steps": 5, "path_steps": 15}, {"path_found": true, "path_length": 0.46286287378896507, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023906707763671875, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.20630265299307338, "step_quality_min": -0.4045391290222255, "step_quality_max": 0.23712273418337704, "alignment_signed_mean": -0.7710579139355128, "alignment_abs_mean": 0.7710579139355128, "alignment_min": -0.9217230231697878, "alignment_max": -0.44520803394761627, "door_contact_steps": 5, "path_steps": 15}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.2683921029420934, 0.27668516848401137, 1.0409319199271425, 0.03317122537500251, 0.7608433784499771, 0.6472849450671523, 0.0322369844334021], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.3279736249529066, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.018723011016845703, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.2838705847142337, "step_quality_min": -0.45335364058876754, "step_quality_max": 0.06537938204277627, "alignment_signed_mean": -0.8285926370324249, "alignment_abs_mean": 0.8285926370324249, "alignment_min": -0.9468659081247988, "alignment_max": -0.6638568139802753, "door_contact_steps": 4, "path_steps": 12}, {"path_found": true, "path_length": 0.3278142684340742, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01858806610107422, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.2809186651485458, "step_quality_min": -0.4438949353914622, "step_quality_max": 0.06450626441780283, "alignment_signed_mean": -0.8280076320080173, "alignment_abs_mean": 0.8280076320080173, "alignment_min": -0.9512330645634802, "alignment_max": -0.6600429081400615, "door_contact_steps": 4, "path_steps": 12}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 219, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.047481894493103, "tray_grasped_left": false, "left_arm_pose": [0.3747442066669464, 0.1256706714630127, 1.0694260597229004, 0.1376829892396927, 0.7399984002113342, 0.6475629210472107, 0.11877743154764175], "right_arm_pose": [0.4687618613243103, -0.5102730393409729, 1.0850632190704346, -0.6257398724555969, 0.5017459988594055, 0.5806516408920288, 0.1398012489080429], "left_arm_joint_positions": [-0.12274885177612305, 0.24585512280464172, -0.11004063487052917, -2.166285753250122, 1.6510435342788696, 1.8041903972625732, 0.024091124534606934], "right_arm_joint_positions": [0.4338343143463135, -0.04771018028259277, 0.7255849838256836, -2.3943939208984375, -0.9963618516921997, 1.4308695793151855, -2.6597301959991455], "pregrasp_goal_pose": [0.2483785558044012, 0.2766867122646457, 1.0409299417773181, 0.03317059709168162, 0.7608389923976212, 0.6472900880658337, 0.03223788187333674], "pregrasp_position_error": 0.19896268754538798, "pregrasp_orientation_error_deg": 15.743733961366123}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.21120689655172414, "tray_projected_count": 232, "tray_visible_count": 49}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.48314606741573035, "tray_projected_count": 178, "tray_visible_count": 86}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.2483785558044012, 0.2766867122646457, 1.0409299417773181, 0.03317059709168162, 0.7608389923976212, 0.6472900880658337, 0.03223788187333674], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.3859570633062051, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020978927612304688, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.16089242777182589, "step_quality_min": -0.4184551298498159, "step_quality_max": 0.2858907457413402, "alignment_signed_mean": -0.7296793475698593, "alignment_abs_mean": 0.7296793475698593, "alignment_min": -0.9199260062547286, "alignment_max": -0.4617210645367074, "door_contact_steps": 4, "path_steps": 13}, {"path_found": true, "path_length": 0.38589186908897255, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02076864242553711, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.15510845646905952, "step_quality_min": -0.4170748632318704, "step_quality_max": 0.27690390160592315, "alignment_signed_mean": -0.7289320147678828, "alignment_abs_mean": 0.7289320147678828, "alignment_min": -0.9254547411722545, "alignment_max": -0.4658261035426501, "door_contact_steps": 4, "path_steps": 13}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22837855580440122, 0.2766867122646457, 1.0409299417773181, 0.03317059709168162, 0.7608389923976212, 0.6472900880658337, 0.03223788187333674], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.4582105737480783, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0232086181640625, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.09638232259400566, "step_quality_min": -0.4144222825656293, "step_quality_max": 0.28198140654869874, "alignment_signed_mean": -0.7001137186648952, "alignment_abs_mean": 0.7001137186648952, "alignment_min": -0.9306352344401411, "alignment_max": -0.362237284883459, "door_contact_steps": 5, "path_steps": 15}, {"path_found": true, "path_length": 0.45817598170639945, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024423837661743164, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.12032856530678929, "step_quality_min": -0.38857939282445475, "step_quality_max": 0.2813590588015855, "alignment_signed_mean": -0.7055279752397055, "alignment_abs_mean": 0.7055279752397055, "alignment_min": -0.9267966092941551, "alignment_max": -0.3580176523116524, "door_contact_steps": 5, "path_steps": 15}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.26837855580440123, 0.2766867122646457, 1.0409299417773181, 0.03317059709168162, 0.7608389923976212, 0.6472900880658337, 0.03223788187333674], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.31836017346182854, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0195310115814209, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.23317886826841644, "step_quality_min": -0.4463142749021958, "step_quality_max": 0.13182494937018768, "alignment_signed_mean": -0.7956933331758056, "alignment_abs_mean": 0.7956933331758056, "alignment_min": -0.9436683244425851, "alignment_max": -0.6271144190264742, "door_contact_steps": 4, "path_steps": 12}, {"path_found": true, "path_length": 0.3183460809949894, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019379138946533203, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.23363540529810847, "step_quality_min": -0.4396003826305747, "step_quality_max": 0.12265583247144635, "alignment_signed_mean": -0.7968843533024418, "alignment_abs_mean": 0.7968843533024418, "alignment_min": -0.9452884865533173, "alignment_max": -0.6353609235256595, "door_contact_steps": 4, "path_steps": 12}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 220, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.0474820137023926, "tray_grasped_left": false, "left_arm_pose": [0.377703458070755, 0.13594920933246613, 1.064081072807312, 0.13604596257209778, 0.7314211130142212, 0.6572556495666504, 0.12053930759429932], "right_arm_pose": [0.46874964237213135, -0.5102766752243042, 1.0849835872650146, -0.6257924437522888, 0.5016939043998718, 0.5806219577789307, 0.13987614214420319], "left_arm_joint_positions": [-0.11743450164794922, 0.2678819000720978, -0.0984022319316864, -2.1621222496032715, 1.6861099004745483, 1.7968003749847412, 0.0007129907608032227], "right_arm_joint_positions": [0.433837890625, -0.047536373138427734, 0.7255876064300537, -2.394531726837158, -0.9963542222976685, 1.4308655261993408, -2.65972900390625], "pregrasp_goal_pose": [0.2483610569280701, 0.27667683237797064, 1.0409290106384355, 0.033166804532779315, 0.760839169389421, 0.6472898397774666, 0.03224259171905964], "pregrasp_position_error": 0.19253503214756623, "pregrasp_orientation_error_deg": 15.951061455901042}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.20689655172413793, "tray_projected_count": 232, "tray_visible_count": 48}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.4550561797752809, "tray_projected_count": 178, "tray_visible_count": 81}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.2483610569280701, 0.27667683237797064, 1.0409290106384355, 0.033166804532779315, 0.760839169389421, 0.6472898397774666, 0.03224259171905964], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.38720163601547675, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02105426788330078, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.07390465932566534, "step_quality_min": -0.39045136157833116, "step_quality_max": 0.30748915223404505, "alignment_signed_mean": -0.6572242536685062, "alignment_abs_mean": 0.6572242536685062, "alignment_min": -0.9210586838382143, "alignment_max": -0.3807895408012104, "door_contact_steps": 4, "path_steps": 13}, {"path_found": true, "path_length": 0.38729965241305847, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02078080177307129, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.05196988808802562, "step_quality_min": -0.3391562683280247, "step_quality_max": 0.29043378969480604, "alignment_signed_mean": -0.6495078402098514, "alignment_abs_mean": 0.6495078402098514, "alignment_min": -0.8968829738405282, "alignment_max": -0.39406394260873334, "door_contact_steps": 4, "path_steps": 13}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.2283610569280701, 0.27667683237797064, 1.0409290106384355, 0.033166804532779315, 0.760839169389421, 0.6472898397774666, 0.03224259171905964], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.46062164058194144, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02369213104248047, "door_quality": 0.004360952999520396, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.006229932856457709, "step_quality_min": -0.3056953052681511, "step_quality_max": 0.30138926635488916, "alignment_signed_mean": -0.6250965047572908, "alignment_abs_mean": 0.6250965047572908, "alignment_min": -0.8769266816338374, "alignment_max": -0.30507420939033264, "door_contact_steps": 5, "path_steps": 15}, {"path_found": true, "path_length": 0.460715280316298, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024224042892456055, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.046353547749311566, "step_quality_min": -0.3235855118776515, "step_quality_max": 0.29075053163681785, "alignment_signed_mean": -0.6525244485273834, "alignment_abs_mean": 0.6525244485273834, "alignment_min": -0.9035422676238362, "alignment_max": -0.32178912419506134, "door_contact_steps": 5, "path_steps": 15}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.2683610569280701, 0.27667683237797064, 1.0409290106384355, 0.033166804532779315, 0.760839169389421, 0.6472898397774666, 0.03224259171905964], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.3182892167942408, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0195310115814209, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.08788192863765625, "step_quality_min": -0.41029051660422206, "step_quality_max": 0.3196959996701425, "alignment_signed_mean": -0.7220441461666074, "alignment_abs_mean": 0.7220441461666074, "alignment_min": -0.9433377978631511, "alignment_max": -0.47419093823376, "door_contact_steps": 5, "path_steps": 12}, {"path_found": true, "path_length": 0.3182237489934277, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.019832849502563477, "door_quality": 0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.08352610320656402, "step_quality_min": -0.40652304218060226, "step_quality_max": 0.3232478289695604, "alignment_signed_mean": -0.7117978559075429, "alignment_abs_mean": 0.7117978559075429, "alignment_min": -0.9359897897108541, "alignment_max": -0.4514846062203135, "door_contact_steps": 5, "path_steps": 12}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
+{"frame_index": 221, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.38060981035232544, 0.14568769931793213, 1.0590547323226929, 0.13452844321727753, 0.7231013774871826, 0.6663371920585632, 0.12256120145320892], "right_arm_pose": [0.46878424286842346, -0.5102507472038269, 1.0849597454071045, -0.6257933974266052, 0.5016752481460571, 0.5806295275688171, 0.13990706205368042], "left_arm_joint_positions": [-0.1125648021697998, 0.28915169835090637, -0.08696815371513367, -2.1568117141723633, 1.7193564176559448, 1.789393424987793, -0.021616101264953613], "right_arm_joint_positions": [0.4338388442993164, -0.04751110076904297, 0.7255744934082031, -2.394768238067627, -0.9963005781173706, 1.430830478668213, -2.6597506999969482], "pregrasp_goal_pose": [0.24839375571597544, 0.2766855410634696, 1.0409287260500477, 0.03316638918729419, 0.7608379688345075, 0.6472912664827204, 0.0322427068226892], "pregrasp_position_error": 0.18700286561704646, "pregrasp_orientation_error_deg": 16.30773238176672}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.20689655172413793, "tray_projected_count": 232, "tray_visible_count": 48}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.39080459770114945, "tray_projected_count": 174, "tray_visible_count": 68}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.24839375571597544, 0.2766855410634696, 1.0409287260500477, 0.03316638918729419, 0.7608379688345075, 0.6472912664827204, 0.0322427068226892], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.3955308575497021, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020672082901000977, "door_quality": 0.03462041853095181, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.049457740758502594, "step_quality_min": -0.3176895276280024, "step_quality_max": 0.30620243257064805, "alignment_signed_mean": -0.5660368723588014, "alignment_abs_mean": 0.5660368723588014, "alignment_min": -0.8899227274722487, "alignment_max": -0.31075037987136933, "door_contact_steps": 4, "path_steps": 13}, {"path_found": true, "path_length": 0.3958531771012922, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.020321369171142578, "door_quality": 0.046197759567125504, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.06599679938160787, "step_quality_min": -0.38516934741618963, "step_quality_max": 0.3539904942768004, "alignment_signed_mean": -0.5483508214752113, "alignment_abs_mean": 0.5483508214752113, "alignment_min": -0.9331974127440777, "alignment_max": -0.28770253948172597, "door_contact_steps": 4, "path_steps": 13}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22839375571597545, 0.2766855410634696, 1.0409287260500477, 0.03316638918729419, 0.7608379688345075, 0.6472912664827204, 0.0322427068226892], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.46917240736114635, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.024082422256469727, "door_quality": 0.03874712159588619, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.05535303085126599, "step_quality_min": -0.35468796590332846, "step_quality_max": 0.31805362887960864, "alignment_signed_mean": -0.5732111526229622, "alignment_abs_mean": 0.5732111526229622, "alignment_min": -0.9035968939543004, "alignment_max": -0.27197908176378105, "door_contact_steps": 5, "path_steps": 15}, {"path_found": true, "path_length": 0.46930302739029184, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023884296417236328, "door_quality": 0.023943239039840372, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.034204627199771964, "step_quality_min": -0.3468962852108003, "step_quality_max": 0.3076824490186171, "alignment_signed_mean": -0.5844513576675298, "alignment_abs_mean": 0.5844513576675298, "alignment_min": -0.9020200350285006, "alignment_max": -0.2668391254716874, "door_contact_steps": 5, "path_steps": 15}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.26839375571597546, 0.2766855410634696, 1.0409287260500477, 0.03316638918729419, 0.7608379688345075, 0.6472912664827204, 0.0322427068226892], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.32650221770685567, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.01878190040588379, "door_quality": 0.05925084431264237, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.08464406330377482, "step_quality_min": -0.41974650224534776, "step_quality_max": 0.3904389085394019, "alignment_signed_mean": -0.5517321747749139, "alignment_abs_mean": 0.5517321747749139, "alignment_min": -0.971227773122346, "alignment_max": -0.29450186587518107, "door_contact_steps": 5, "path_steps": 12}, {"path_found": true, "path_length": 0.32653249001125245, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.018904685974121094, "door_quality": 0.0645924609170638, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.092274944167234, "step_quality_min": -0.3908875982076364, "step_quality_max": 0.3823629216275757, "alignment_signed_mean": -0.5480266790836653, "alignment_abs_mean": 0.5480266790836653, "alignment_min": -0.9488969646198581, "alignment_max": -0.29001624827236144, "door_contact_steps": 5, "path_steps": 12}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 222, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.3831484913825989, 0.1547476351261139, 1.0545908212661743, 0.1330682635307312, 0.714928388595581, 0.6751192212104797, 0.1240338459610939], "right_arm_pose": [0.46877092123031616, -0.5102623701095581, 1.084997534751892, -0.6257771849632263, 0.5016940832138062, 0.5806393027305603, 0.1398717761039734], "left_arm_joint_positions": [-0.10818719863891602, 0.3097245991230011, -0.07645818591117859, -2.151177406311035, 1.749430537223816, 1.7802066802978516, -0.041512370109558105], "right_arm_joint_positions": [0.43384504318237305, -0.04762411117553711, 0.7256019115447998, -2.394535541534424, -0.996343731880188, 1.4308509826660156, -2.6597368717193604], "pregrasp_goal_pose": [0.24839251410343616, 0.27668545329070793, 1.0409312237801729, 0.03316989827153472, 0.7608422723981677, 0.647286228754983, 0.032238679327790724], "pregrasp_position_error": 0.18224870236762564, "pregrasp_orientation_error_deg": 16.734554475964735}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.1724137931034483, "tray_projected_count": 232, "tray_visible_count": 40}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.31976744186046513, "tray_projected_count": 172, "tray_visible_count": 55}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.24839251410343616, 0.27668545329070793, 1.0409312237801729, 0.03316989827153472, 0.7608422723981677, 0.647286228754983, 0.032238679327790724], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.40977610727106695, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021117448806762695, "door_quality": 0.06832683797387894, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.09760976853411277, "step_quality_min": -0.40486319171739216, "step_quality_max": 0.393639582039335, "alignment_signed_mean": -0.5200675626201494, "alignment_abs_mean": 0.5200675626201494, "alignment_min": -0.9564032787721777, "alignment_max": -0.22469872075135736, "door_contact_steps": 5, "path_steps": 14}, {"path_found": true, "path_length": 0.4100730571292429, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02093648910522461, "door_quality": 0.10664563047889122, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.15235090068413032, "step_quality_min": -0.3713175054127811, "step_quality_max": 0.4332568219534545, "alignment_signed_mean": -0.48536157296886484, "alignment_abs_mean": 0.48536157296886484, "alignment_min": -0.9471450399013804, "alignment_max": -0.21258918032495097, "door_contact_steps": 5, "path_steps": 14}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22839251410343617, 0.27668545329070793, 1.0409312237801729, 0.03316989827153472, 0.7608422723981677, 0.647286228754983, 0.032238679327790724], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.48307245846973684, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023148059844970703, "door_quality": 0.07049410310974417, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.10070586158534882, "step_quality_min": -0.3275778028744753, "step_quality_max": 0.3566861102749147, "alignment_signed_mean": -0.507738485000644, "alignment_abs_mean": 0.507738485000644, "alignment_min": -0.9017273924346534, "alignment_max": -0.21086326682346224, "door_contact_steps": 5, "path_steps": 15}, {"path_found": true, "path_length": 0.4830711943169192, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.023067474365234375, "door_quality": 0.10049088282402882, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.1435584040343269, "step_quality_min": -0.35012603289216726, "step_quality_max": 0.42615721587825894, "alignment_signed_mean": -0.4780683830958366, "alignment_abs_mean": 0.4780683830958366, "alignment_min": -0.9166783426902768, "alignment_max": -0.21171913209141027, "door_contact_steps": 5, "path_steps": 15}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.2683925141034362, 0.27668545329070793, 1.0409312237801729, 0.03316989827153472, 0.7608422723981677, 0.647286228754983, 0.032238679327790724], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.3416363827675786, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02738189697265625, "door_quality": 0.08278185703803954, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.11825979576862793, "step_quality_min": -0.09023303021838791, "step_quality_max": 0.25862728203051333, "alignment_signed_mean": -0.5083004297053151, "alignment_abs_mean": 0.5083004297053151, "alignment_min": -0.6901223869235559, "alignment_max": -0.2986442523840543, "door_contact_steps": 5, "path_steps": 12}, {"path_found": true, "path_length": 0.34168500856633705, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.025208473205566406, "door_quality": 0.1206963884818814, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.17242341211697343, "step_quality_min": -0.0424719584567913, "step_quality_max": 0.3015892127146345, "alignment_signed_mean": -0.4690040307867826, "alignment_abs_mean": 0.4690040307867826, "alignment_min": -0.6898428198993789, "alignment_max": -0.32189749884871227, "door_contact_steps": 5, "path_steps": 12}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 223, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.047481894493103, "tray_grasped_left": false, "left_arm_pose": [0.3851509690284729, 0.1622946411371231, 1.0512282848358154, 0.13170260190963745, 0.7077915072441101, 0.6826416850090027, 0.1252441257238388], "right_arm_pose": [0.4687678813934326, -0.5102540254592896, 1.0849863290786743, -0.6257839202880859, 0.5016841888427734, 0.5806370377540588, 0.13988623023033142], "left_arm_joint_positions": [-0.10471582412719727, 0.3268766701221466, -0.06777903437614441, -2.145944118499756, 1.7740031480789185, 1.7715508937835693, -0.057518839836120605], "right_arm_joint_positions": [0.43384456634521484, -0.047508955001831055, 0.725604772567749, -2.3945865631103516, -0.9963511228561401, 1.4308369159698486, -2.6597564220428467], "pregrasp_goal_pose": [0.24837767796987825, 0.27668611080974287, 1.0409300623782918, 0.03316514296785951, 0.7608434219315988, 0.6472848432872181, 0.03224425911659261], "pregrasp_position_error": 0.17860121742766924, "pregrasp_orientation_error_deg": 17.175452129085592}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.1724137931034483, "tray_projected_count": 232, "tray_visible_count": 40}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.03048780487804878, "tray_projected_count": 164, "tray_visible_count": 5}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.24837767796987825, 0.27668611080974287, 1.0409300623782918, 0.03316514296785951, 0.7608434219315988, 0.6472848432872181, 0.03224425911659261], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.42550187206513324, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.02120518684387207, "door_quality": 0.18528655584000564, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.26469507977143664, "step_quality_min": 0.014158865501326279, "step_quality_max": 0.4379428975013936, "alignment_signed_mean": -0.4007897798815229, "alignment_abs_mean": 0.4007897798815229, "alignment_min": -0.6709375544373928, "alignment_max": -0.18558601271065095, "door_contact_steps": 5, "path_steps": 14}, {"path_found": true, "path_length": 0.42599509361604093, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.015416383743286133, "door_quality": 0.1953658943425816, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.2790941347751166, "step_quality_min": -0.04509170550403041, "step_quality_max": 0.5541941648348662, "alignment_signed_mean": -0.24801616321530437, "alignment_abs_mean": 0.42465371962248183, "alignment_min": -0.516526084393407, "alignment_max": 0.516526084393407, "door_contact_steps": 5, "path_steps": 14}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22837767796987826, 0.27668611080974287, 1.0409300623782918, 0.03316514296785951, 0.7608434219315988, 0.6472848432872181, 0.03224425911659261], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.497877426226204, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.016161441802978516, "door_quality": 0.1378194368074563, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.1968849097249376, "step_quality_min": 0.009546598706919096, "step_quality_max": 0.5255568188320544, "alignment_signed_mean": -0.25186904033387936, "alignment_abs_mean": 0.47765075223601505, "alignment_min": -0.6244441094501137, "alignment_max": 0.6244441094501137, "door_contact_steps": 5, "path_steps": 15}, {"path_found": true, "path_length": 0.4978130071739946, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.021875619888305664, "door_quality": 0.2337472709216238, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.3339246727451769, "step_quality_min": 0.018486702412913614, "step_quality_max": 0.5126395349804997, "alignment_signed_mean": -0.23302245919042622, "alignment_abs_mean": 0.23302245919042622, "alignment_min": -0.41048949971521725, "alignment_max": -0.13752740368026506, "door_contact_steps": 5, "path_steps": 15}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.26837767796987827, 0.27668611080974287, 1.0409300623782918, 0.03316514296785951, 0.7608434219315988, 0.6472848432872181, 0.03224425911659261], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.358740866829858, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.017228364944458008, "door_quality": 0.17495636178692242, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.24993765969560347, "step_quality_min": -0.3193314806196733, "step_quality_max": 0.5919382246109979, "alignment_signed_mean": -0.32545983088926533, "alignment_abs_mean": 0.39527579021712433, "alignment_min": -0.6613172533263783, "alignment_max": 0.25308285256348895, "door_contact_steps": 5, "path_steps": 12}, {"path_found": true, "path_length": 0.35859555246846425, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.018227815628051758, "door_quality": 0.17197333882293858, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.2456761983184837, "step_quality_min": -0.31350326338414297, "step_quality_max": 0.6382040212019878, "alignment_signed_mean": -0.3164444864092207, "alignment_abs_mean": 0.31937590897483126, "alignment_min": -0.6613576438809451, "alignment_max": 0.008061412055428974, "door_contact_steps": 5, "path_steps": 12}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 224, "state": {"door_angle": 1.5707968473434448, "tray_height": 1.047481894493103, "tray_grasped_left": false, "left_arm_pose": [0.3867266774177551, 0.16783803701400757, 1.0486246347427368, 0.13083814084529877, 0.7023794651031494, 0.6881909966468811, 0.12624461948871613], "right_arm_pose": [0.46878111362457275, -0.5102245211601257, 1.084970235824585, -0.625779390335083, 0.5016672611236572, 0.580651581287384, 0.1399068385362625], "left_arm_joint_positions": [-0.10222315788269043, 0.3398304283618927, -0.06137606501579285, -2.14164137840271, 1.7921456098556519, 1.7649517059326172, -0.06946265697479248], "right_arm_joint_positions": [0.4338521957397461, -0.04765796661376953, 0.7255926132202148, -2.394710063934326, -0.996334433555603, 1.4308419227600098, -2.659752607345581], "pregrasp_goal_pose": [0.2483773987498134, 0.2766856533103388, 1.0409295009308015, 0.03316600236478603, 0.7608412482545865, 0.6472874101327419, 0.03224313764491679], "pregrasp_position_error": 0.1762031258681773, "pregrasp_orientation_error_deg": 17.5714277966061}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.16810344827586207, "tray_projected_count": 232, "tray_visible_count": 39}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 164, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0603448275862069, "tray_projected_count": 232, "tray_visible_count": 14}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 52, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.2483773987498134, 0.2766856533103388, 1.0409295009308015, 0.03316600236478603, 0.7608412482545865, 0.6472874101327419, 0.03224313764491679], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.4395655608367019, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.015445947647094727, "door_quality": 0.19556725296673946, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.27938178995248497, "step_quality_min": -0.03277112902231205, "step_quality_max": 0.5667246469923668, "alignment_signed_mean": -0.20294452507271948, "alignment_abs_mean": 0.41894221743043314, "alignment_min": -0.5176784607562982, "alignment_max": 0.5176784607562982, "door_contact_steps": 5, "path_steps": 14}, {"path_found": true, "path_length": 0.4399254707101917, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.013099193572998047, "door_quality": 0.24312435397945417, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.34732050568493456, "step_quality_min": 0.002386114729744926, "step_quality_max": 0.6196277314502051, "alignment_signed_mean": -0.21956586993436858, "alignment_abs_mean": 0.30153336685645216, "alignment_min": -0.4929542615681689, "alignment_max": 0.38769317995422264, "door_contact_steps": 5, "path_steps": 14}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.22837739874981342, 0.2766856533103388, 1.0409295009308015, 0.03316600236478603, 0.7608412482545865, 0.6472874101327419, 0.03224313764491679], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.511115090279948, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.012611627578735352, "door_quality": 0.2135835457522425, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.3051193510746322, "step_quality_min": -0.061662630092301995, "step_quality_max": 0.6372505965089681, "alignment_signed_mean": -0.2266089768276777, "alignment_abs_mean": 0.43828433983060866, "alignment_min": -0.5540358575653628, "alignment_max": 0.5540358575653628, "door_contact_steps": 6, "path_steps": 16}, {"path_found": true, "path_length": 0.5111313639852525, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.012091875076293945, "door_quality": 0.23405522957759783, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.33436461368228265, "step_quality_min": -0.0814938863477025, "step_quality_max": 0.5587011773759917, "alignment_signed_mean": -0.20775951338200463, "alignment_abs_mean": 0.41098050841570244, "alignment_min": -0.49136712986505826, "alignment_max": 0.49136712986505826, "door_contact_steps": 6, "path_steps": 16}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.2683773987498134, 0.2766856533103388, 1.0409295009308015, 0.03316600236478603, 0.7608412482545865, 0.6472874101327419, 0.03224313764491679], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.3738942781044784, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.014103889465332031, "door_quality": 0.18656576602918867, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.266522522898841, "step_quality_min": -0.18376928805375936, "step_quality_max": 0.5163032876217084, "alignment_signed_mean": -0.27129042845767104, "alignment_abs_mean": 0.45340586144673706, "alignment_min": -0.6173119578900308, "alignment_max": 0.44059691592178457, "door_contact_steps": 5, "path_steps": 13}, {"path_found": true, "path_length": 0.37385615436574654, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.013573646545410156, "door_quality": 0.17972815015721805, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": 0.2567545002245972, "step_quality_min": -0.175134536488337, "step_quality_max": 0.528936253365717, "alignment_signed_mean": -0.23613913928716804, "alignment_abs_mean": 0.4607616556302405, "alignment_min": -0.6247890622502732, "alignment_max": 0.6247890622502732, "door_contact_steps": 5, "path_steps": 13}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474811792373657, "final_height": 1.0474811792373657, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474811792373657}], "score": 0.0007315476735432937}}
+{"frame_index": 225, "state": {"door_angle": 0.573257565498352, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.38773494958877563, 0.1713700294494629, 1.0470423698425293, 0.13028602302074432, 0.6988584995269775, 0.6917418837547302, 0.12694747745990753], "right_arm_pose": [0.46875810623168945, -0.510269045829773, 1.0850317478179932, -0.6257786750793457, 0.5017009377479553, 0.5806367993354797, 0.13985088467597961], "left_arm_joint_positions": [-0.10060238838195801, 0.3477919399738312, -0.057199448347091675, -2.1386795043945312, 1.8036633729934692, 1.7607505321502686, -0.07695496082305908], "right_arm_joint_positions": [0.433837890625, -0.04751920700073242, 0.725581169128418, -2.3945508003234863, -0.9963496923446655, 1.430875301361084, -2.659749746322632], "pregrasp_goal_pose": [0.3877394836910885, 0.1330460321943625, 1.0409318085345187, 0.15529782235246084, 0.7455654088057571, 0.6336351518881287, 0.13609298974082354], "pregrasp_position_error": 0.03880808866288034, "pregrasp_orientation_error_deg": 9.074055118410554}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.4, "grasp_projected_count": 90, "grasp_visible_count": 36, "tray_visibility": 0.38333333333333336, "tray_projected_count": 120, "tray_visible_count": 46}, "wrist_left": {"grasp_visibility": 0.7619047619047619, "grasp_projected_count": 84, "grasp_visible_count": 64, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.16666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 15, "tray_visibility": 0.03787878787878788, "tray_projected_count": 264, "tray_visible_count": 10}}}, "p_pre": {"tray_grasped_left": false, "source": "strict", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": true, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.17855775537031482, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [0.3877394836910885, 0.1330460321943625, 1.0409318085345187, 0.15529782235246084, 0.7455654088057571, 0.6336351518881287, 0.13609298974082354], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3877394836910885, 0.1330460321943625, 1.0409318085345187, 0.15529782235246084, 0.7455654088057571, 0.6336351518881287, 0.13609298974082354], "strict_path_found": true, "strict_length": 0.17855775537031482, "assisted": null, "candidate_score": 1.0, "source": "strict"}]}, "p_ext": {"initial_height": 1.0474827289581299, "final_height": 1.417083978652954, "already_grasped_start": false, "already_grasped_end": true, "total_length": 3.4819917415434167, "num_milestones": 5, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.24864947641366497, "retreat_score": 0.10862812724189855, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.17855775537031482, "reliability": 1.0, "planner_score": 0.7881419961796956, "height_before": 1.0474827289581299, "height_after": 1.0474822521209717}, {"milestone_index": 1, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.10485944006958671, "reliability": 1.0, "planner_score": 0.8695211799114043, "height_before": 1.0474822521209717, "height_after": 1.0474827289581299}, {"milestone_index": 2, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0657592680037935, "reliability": 1.0, "planner_score": 0.2414694397588573, "height_before": 1.0474827289581299, "height_after": 1.0762735605239868}, {"milestone_index": 3, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0450034283735266, "reliability": 1.0, "planner_score": 0.24824530105894893, "height_before": 1.0762735605239868, "height_after": 1.1897222995758057}, {"milestone_index": 4, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0878118497261953, "reliability": 1.0, "planner_score": 0.23447277412818412, "height_before": 1.1897222995758057, "height_after": 1.417083978652954}], "score": 1.0}}
+{"frame_index": 226, "state": {"door_angle": 0.5689889192581177, "tray_height": 1.0472475290298462, "tray_grasped_left": true, "left_arm_pose": [0.38842299580574036, 0.17346924543380737, 1.045975685119629, 0.13019013404846191, 0.6966157555580139, 0.6939379572868347, 0.12738589942455292], "right_arm_pose": [0.46882015466690063, -0.5101938843727112, 1.084699034690857, -0.6259524822235107, 0.501518726348877, 0.5805276036262512, 0.14017941057682037], "left_arm_joint_positions": [-0.09970235824584961, 0.3533993065357208, -0.054825276136398315, -2.137056827545166, 1.810470700263977, 1.75838303565979, -0.08136522769927979], "right_arm_joint_positions": [0.43383169174194336, -0.047141313552856445, 0.7256321907043457, -2.394831657409668, -0.9962338209152222, 1.4309189319610596, -2.6598381996154785], "pregrasp_goal_pose": [0.3877131703876321, 0.13313362637767928, 1.0407227694435066, 0.15556147756237299, 0.7454104108899198, 0.6337977792488662, 0.135883483377258], "pregrasp_position_error": 0.04068241806807613, "pregrasp_orientation_error_deg": 9.391918001145907}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.3416666666666667, "tray_projected_count": 120, "tray_visible_count": 41}, "wrist_left": {"grasp_visibility": 0.8554216867469879, "grasp_projected_count": 83, "grasp_visible_count": 71, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.2777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 25, "tray_visibility": 0.03787878787878788, "tray_projected_count": 264, "tray_visible_count": 10}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0472475290298462, "final_height": 1.361375331878662, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.0441998164551127, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.1925390421571564, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.9637281896333351, "reliability": 1.0, "planner_score": 0.2766586288831755, "height_before": 1.0472475290298462, "height_after": 1.1355358362197876}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0804716268217776, "reliability": 1.0, "planner_score": 0.23677881686924154, "height_before": 1.1355358362197876, "height_after": 1.361375331878662}], "score": 1.0}}
+{"frame_index": 227, "state": {"door_angle": 0.5691112279891968, "tray_height": 1.0472545623779297, "tray_grasped_left": true, "left_arm_pose": [0.38876721262931824, 0.17390510439872742, 1.0462110042572021, 0.1298264116048813, 0.6958897709846497, 0.6946271061897278, 0.12796805799007416], "right_arm_pose": [0.46880656480789185, -0.5101988911628723, 1.0848419666290283, -0.6258358955383301, 0.5015950202941895, 0.5806244015693665, 0.14002615213394165], "left_arm_joint_positions": [-0.09941458702087402, 0.35447075963020325, -0.0540299117565155, -2.1362006664276123, 1.8128949403762817, 1.7575013637542725, -0.08296144008636475], "right_arm_joint_positions": [0.4338250160217285, -0.04740428924560547, 0.7256238460540771, -2.394890785217285, -0.9962950944900513, 1.430844783782959, -2.659731388092041], "pregrasp_goal_pose": [0.38807990419186333, 0.13359320771432745, 1.0403049810857703, 0.15501590309580268, 0.7448226357435644, 0.6344118615319546, 0.13686088198956706], "pregrasp_position_error": 0.04074803696969246, "pregrasp_orientation_error_deg": 9.406058484703001}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.7666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 69, "tray_visibility": 0.2833333333333333, "tray_projected_count": 120, "tray_visible_count": 34}, "wrist_left": {"grasp_visibility": 0.8452380952380952, "grasp_projected_count": 84, "grasp_visible_count": 71, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.3, "grasp_projected_count": 90, "grasp_visible_count": 27, "tray_visibility": 0.04924242424242424, "tray_projected_count": 264, "tray_visible_count": 13}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0472545623779297, "final_height": 1.3520891666412354, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.0447936895839143, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.19245903372030587, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.964215802842289, "reliability": 1.0, "planner_score": 0.27647881747270253, "height_before": 1.0472545623779297, "height_after": 1.1356620788574219}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0805778867416254, "reliability": 1.0, "planner_score": 0.23674527244811308, "height_before": 1.1356620788574219, "height_after": 1.3520891666412354}], "score": 1.0}}
+{"frame_index": 228, "state": {"door_angle": 0.5690292119979858, "tray_height": 1.0473681688308716, "tray_grasped_left": true, "left_arm_pose": [0.3888876438140869, 0.17419672012329102, 1.0462005138397217, 0.1297011822462082, 0.6956053376197815, 0.6949052810668945, 0.1281311959028244], "right_arm_pose": [0.4687889814376831, -0.5102338790893555, 1.0849369764328003, -0.625802218914032, 0.5016451478004456, 0.5806397795677185, 0.1399330049753189], "left_arm_joint_positions": [-0.09932780265808105, 0.35485056042671204, -0.05376049876213074, -2.1358261108398438, 1.8137530088424683, 1.7571852207183838, -0.08353197574615479], "right_arm_joint_positions": [0.4338419437408447, -0.04748392105102539, 0.7256102561950684, -2.3946375846862793, -0.9963308572769165, 1.4308371543884277, -2.659717559814453], "pregrasp_goal_pose": [0.38819162807608587, 0.13385743636771663, 1.0404731054867005, 0.15505570357238066, 0.7449733918135439, 0.6342218892705787, 0.1368757445625619], "pregrasp_position_error": 0.04074979089839051, "pregrasp_orientation_error_deg": 9.479221588919588}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.8, "grasp_projected_count": 90, "grasp_visible_count": 72, "tray_visibility": 0.30833333333333335, "tray_projected_count": 120, "tray_visible_count": 37}, "wrist_left": {"grasp_visibility": 0.8452380952380952, "grasp_projected_count": 84, "grasp_visible_count": 71, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.32222222222222224, "grasp_projected_count": 90, "grasp_visible_count": 29, "tray_visibility": 0.05303030303030303, "tray_projected_count": 264, "tray_visible_count": 14}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0473681688308716, "final_height": 1.3498432636260986, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.045164150297179, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.1924097161981526, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.9644912786755677, "reliability": 1.0, "planner_score": 0.2763772851434764, "height_before": 1.0473681688308716, "height_after": 1.1356583833694458}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0806728716216114, "reliability": 1.0, "planner_score": 0.2367152913849306, "height_before": 1.1356583833694458, "height_after": 1.3498432636260986}], "score": 1.0}}
+{"frame_index": 229, "state": {"door_angle": 0.5684236288070679, "tray_height": 1.0473641157150269, "tray_grasped_left": true, "left_arm_pose": [0.3887096643447876, 0.17376816272735596, 1.0461626052856445, 0.12968695163726807, 0.6955133080482483, 0.6950215101242065, 0.12801432609558105], "right_arm_pose": [0.46877747774124146, -0.5102783441543579, 1.0850284099578857, -0.6257666945457458, 0.5017094612121582, 0.5806455016136169, 0.13983739912509918], "left_arm_joint_positions": [-0.10012698173522949, 0.3545732796192169, -0.05427619814872742, -2.136329174041748, 1.8129562139511108, 1.7559144496917725, -0.08343923091888428], "right_arm_joint_positions": [0.43384337425231934, -0.04761695861816406, 0.7256081104278564, -2.394503116607666, -0.996338963508606, 1.4308478832244873, -2.65972638130188], "pregrasp_goal_pose": [0.38801890322123456, 0.13340362220292196, 1.0407277061693418, 0.1555021280479503, 0.7452076399473583, 0.633996271700705, 0.13613739018452256], "pregrasp_position_error": 0.04073464632328203, "pregrasp_orientation_error_deg": 9.539370402471675}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.36666666666666664, "tray_projected_count": 120, "tray_visible_count": 44}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.4111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 37, "tray_visibility": 0.07575757575757576, "tray_projected_count": 264, "tray_visible_count": 20}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0473641157150269, "final_height": 1.3611146211624146, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.045304276509142, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.1923850146755418, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.9649016356187713, "reliability": 1.0, "planner_score": 0.27622610872090775, "height_before": 1.0473641157150269, "height_after": 1.1353040933609009}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0804026408903709, "reliability": 1.0, "planner_score": 0.2368005970805371, "height_before": 1.1353040933609009, "height_after": 1.3611146211624146}], "score": 1.0}}
+{"frame_index": 230, "state": {"door_angle": 0.5634473562240601, "tray_height": 1.0475022792816162, "tray_grasped_left": true, "left_arm_pose": [0.38789528608322144, 0.171167254447937, 1.0461992025375366, 0.12982407212257385, 0.6955423355102539, 0.6950169801712036, 0.12774202227592468], "right_arm_pose": [0.46876969933509827, -0.5102548003196716, 1.084996223449707, -0.6257598400115967, 0.5016970038414001, 0.5806590914726257, 0.13985636830329895], "left_arm_joint_positions": [-0.10338711738586426, 0.35309746861457825, -0.05681225657463074, -2.138672113418579, 1.8090101480484009, 1.7515625953674316, -0.08253419399261475], "right_arm_joint_positions": [0.43384218215942383, -0.047637939453125, 0.7256131172180176, -2.394537925720215, -0.9963358640670776, 1.430833101272583, -2.659698247909546], "pregrasp_goal_pose": [0.3871851416107793, 0.13081961121166452, 1.0408052376174508, 0.15525246842592041, 0.7452180524097513, 0.6340164121226258, 0.13627147379194404], "pregrasp_position_error": 0.04071279255286207, "pregrasp_orientation_error_deg": 9.527019358374629}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.33884297520661155, "tray_projected_count": 121, "tray_visible_count": 41}, "wrist_left": {"grasp_visibility": 0.8214285714285714, "grasp_projected_count": 84, "grasp_visible_count": 69, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.4111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 37, "tray_visibility": 0.10227272727272728, "tray_projected_count": 264, "tray_visible_count": 27}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0475022792816162, "final_height": 1.360938549041748, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.0464359067096343, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.19223020372353267, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.9659633709828788, "reliability": 1.0, "planner_score": 0.2758353466725989, "height_before": 1.0475022792816162, "height_after": 1.1354347467422485}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0804725357267557, "reliability": 1.0, "planner_score": 0.23677852992348822, "height_before": 1.1354347467422485, "height_after": 1.360938549041748}], "score": 1.0}}
+{"frame_index": 231, "state": {"door_angle": 0.5551337003707886, "tray_height": 1.047590732574463, "tray_grasped_left": true, "left_arm_pose": [0.3865411877632141, 0.16558951139450073, 1.0468511581420898, 0.12987740337848663, 0.6955690979957581, 0.6949998736381531, 0.12763497233390808], "right_arm_pose": [0.46877849102020264, -0.5102347135543823, 1.08494234085083, -0.6258018016815186, 0.5016407370567322, 0.5806446671485901, 0.13993072509765625], "left_arm_joint_positions": [-0.10997772216796875, 0.3492322266101837, -0.06205436587333679, -2.142692804336548, 1.8009346723556519, 1.7428290843963623, -0.08065521717071533], "right_arm_joint_positions": [0.43384242057800293, -0.04748058319091797, 0.7255954742431641, -2.3946590423583984, -0.9963396787643433, 1.4308593273162842, -2.6597423553466797], "pregrasp_goal_pose": [0.38588927653976635, 0.1252324057755838, 1.0409288742398783, 0.15521938398764437, 0.7453338234251895, 0.6338938175850871, 0.1362463303002641], "pregrasp_position_error": 0.04079453895802803, "pregrasp_orientation_error_deg": 9.539946196774185}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.24444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 22, "tray_visibility": 0.02702702702702703, "tray_projected_count": 296, "tray_visible_count": 8}, "wrist_right": {"grasp_visibility": 0.7222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 65, "tray_visibility": 0.3114754098360656, "tray_projected_count": 122, "tray_visible_count": 38}, "wrist_left": {"grasp_visibility": 0.8095238095238095, "grasp_projected_count": 84, "grasp_visible_count": 68, "tray_visibility": 0.1095890410958904, "tray_projected_count": 146, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.4222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 38, "tray_visibility": 0.09056603773584905, "tray_projected_count": 265, "tray_visible_count": 24}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.047590732574463, "final_height": 1.3509786128997803, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.0492146789855656, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.1918500917543243, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.9686150031955113, "reliability": 1.0, "planner_score": 0.2748618500691192, "height_before": 1.047590732574463, "height_after": 1.13529372215271}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0805996757900544, "reliability": 1.0, "planner_score": 0.23673839460907894, "height_before": 1.13529372215271, "height_after": 1.3509786128997803}], "score": 1.0}}
+{"frame_index": 232, "state": {"door_angle": 0.5420647859573364, "tray_height": 1.0485514402389526, "tray_grasped_left": true, "left_arm_pose": [0.38444197177886963, 0.15647348761558533, 1.047972559928894, 0.1300451010465622, 0.6956278085708618, 0.6949179768562317, 0.12759003043174744], "right_arm_pose": [0.4687761664390564, -0.5102418065071106, 1.084937572479248, -0.6258023977279663, 0.5016449093818665, 0.580639123916626, 0.13993598520755768], "left_arm_joint_positions": [-0.12059926986694336, 0.3435859978199005, -0.0707072913646698, -2.148348331451416, 1.7879523038864136, 1.7289843559265137, -0.07745444774627686], "right_arm_joint_positions": [0.4338417053222656, -0.0475461483001709, 0.7255959510803223, -2.3947529792785645, -0.9963327646255493, 1.4308130741119385, -2.6597795486450195], "pregrasp_goal_pose": [0.38371173860713037, 0.11614082112309572, 1.0422265105261148, 0.1564450589746071, 0.7451483871768804, 0.6340818302841894, 0.13497798751492152], "pregrasp_position_error": 0.04074646378053784, "pregrasp_orientation_error_deg": 9.52478595375366}, "visibility": {"best_grasp_visibility_camera": "wrist_right", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.6, "grasp_projected_count": 90, "grasp_visible_count": 54, "tray_visibility": 0.06418918918918919, "tray_projected_count": 296, "tray_visible_count": 19}, "wrist_right": {"grasp_visibility": 0.7888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 71, "tray_visibility": 0.36065573770491804, "tray_projected_count": 122, "tray_visible_count": 44}, "wrist_left": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.15584415584415584, "tray_projected_count": 154, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.45555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 41, "tray_visibility": 0.23722627737226276, "tray_projected_count": 274, "tray_visible_count": 65}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0485514402389526, "final_height": 1.3608791828155518, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.0542728070518796, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.19115336259308632, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.9738899552985394, "reliability": 1.0, "planner_score": 0.2729354549793099, "height_before": 1.0485514402389526, "height_after": 1.1351534128189087}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.08038285175334, "reliability": 1.0, "planner_score": 0.23680684526892035, "height_before": 1.1351534128189087, "height_after": 1.3608791828155518}], "score": 1.0}}
+{"frame_index": 233, "state": {"door_angle": 0.5258628129959106, "tray_height": 1.0503673553466797, "tray_grasped_left": true, "left_arm_pose": [0.38151854276657104, 0.1438879370689392, 1.049707055091858, 0.1301175355911255, 0.6957070827484131, 0.6948309540748596, 0.12755802273750305], "right_arm_pose": [0.468776136636734, -0.5102265477180481, 1.084981918334961, -0.6257713437080383, 0.5016703009605408, 0.5806592702865601, 0.1398998349905014], "left_arm_joint_positions": [-0.13513970375061035, 0.3364286720752716, -0.08276388049125671, -2.1549594402313232, 1.7697542905807495, 1.7096421718597412, -0.07311666011810303], "right_arm_joint_positions": [0.4338393211364746, -0.04762530326843262, 0.7255628108978271, -2.3946709632873535, -0.9963454008102417, 1.430816888809204, -2.659749746322632], "pregrasp_goal_pose": [0.3808069994906239, 0.10351610411050767, 1.0444910566911503, 0.15696171544974158, 0.7459779330496974, 0.6331063658656773, 0.13437363129100466], "pregrasp_position_error": 0.040713607425199125, "pregrasp_orientation_error_deg": 9.66133615121686}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.7666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 69, "tray_visibility": 0.13513513513513514, "tray_projected_count": 296, "tray_visible_count": 40}, "wrist_right": {"grasp_visibility": 0.6888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 62, "tray_visibility": 0.3333333333333333, "tray_projected_count": 123, "tray_visible_count": 41}, "wrist_left": {"grasp_visibility": 0.7666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 69, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 0.28888888888888886, "grasp_projected_count": 90, "grasp_visible_count": 26, "tray_visibility": 0.10810810810810811, "tray_projected_count": 296, "tray_visible_count": 32}, "over_shoulder_right": {"grasp_visibility": 0.5444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 49, "tray_visibility": 0.2743055555555556, "tray_projected_count": 288, "tray_visible_count": 79}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0503673553466797, "final_height": 1.3614156246185303, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.0640094956201414, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.18983969160313277, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.9832305192245611, "reliability": 1.0, "planner_score": 0.26955737268463514, "height_before": 1.0503673553466797, "height_after": 1.1346946954727173}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0807789763955802, "reliability": 1.0, "planner_score": 0.23668180492371893, "height_before": 1.1346946954727173, "height_after": 1.3614156246185303}], "score": 1.0}}
+{"frame_index": 234, "state": {"door_angle": 0.5085614919662476, "tray_height": 1.0529550313949585, "tray_grasped_left": true, "left_arm_pose": [0.37792372703552246, 0.12842626869678497, 1.0520050525665283, 0.13014405965805054, 0.6957491040229797, 0.694790780544281, 0.1275210827589035], "right_arm_pose": [0.46878331899642944, -0.5102363228797913, 1.084980845451355, -0.625779926776886, 0.501671314239502, 0.5806483030319214, 0.13990327715873718], "left_arm_joint_positions": [-0.15310120582580566, 0.3286605179309845, -0.09801504015922546, -2.1612765789031982, 1.7473303079605103, 1.6856796741485596, -0.06754148006439209], "right_arm_joint_positions": [0.4338405132293701, -0.04762554168701172, 0.7255892753601074, -2.3946542739868164, -0.9963339567184448, 1.4308478832244873, -2.6597506999969482], "pregrasp_goal_pose": [0.3772108043062651, 0.08804538789585066, 1.0467384851364698, 0.15640396353553498, 0.745527394533589, 0.6336338497290441, 0.13503647162113103], "pregrasp_position_error": 0.04072911152446748, "pregrasp_orientation_error_deg": 9.565586126670686}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.9777777777777777, "grasp_projected_count": 90, "grasp_visible_count": 88, "tray_visibility": 0.19594594594594594, "tray_projected_count": 296, "tray_visible_count": 58}, "wrist_right": {"grasp_visibility": 0.7666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 69, "tray_visibility": 0.29365079365079366, "tray_projected_count": 126, "tray_visible_count": 37}, "wrist_left": {"grasp_visibility": 0.7444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 67, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 0.36666666666666664, "grasp_projected_count": 90, "grasp_visible_count": 33, "tray_visibility": 0.10135135135135136, "tray_projected_count": 296, "tray_visible_count": 30}, "over_shoulder_right": {"grasp_visibility": 0.5888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 53, "tray_visibility": 0.2986111111111111, "tray_projected_count": 288, "tray_visible_count": 86}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0529550313949585, "final_height": 1.3615702390670776, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.078723480390765, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.18787351169573302, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.9981167191879482, "reliability": 1.0, "planner_score": 0.264259873087968, "height_before": 1.0529550313949585, "height_after": 1.135190725326538}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0806067612028167, "reliability": 1.0, "planner_score": 0.2367361581006534, "height_before": 1.135190725326538, "height_after": 1.3615702390670776}], "score": 1.0}}
+{"frame_index": 235, "state": {"door_angle": 0.4934626817703247, "tray_height": 1.055453896522522, "tray_grasped_left": true, "left_arm_pose": [0.3739107847213745, 0.11116307228803635, 1.0546290874481201, 0.1301298886537552, 0.695763885974884, 0.6947726011276245, 0.1275535225868225], "right_arm_pose": [0.4687778055667877, -0.5102542638778687, 1.0850348472595215, -0.6257496476173401, 0.5016977190971375, 0.580673098564148, 0.13984133303165436], "left_arm_joint_positions": [-0.17321062088012695, 0.32154181599617004, -0.11457893252372742, -2.1660068035125732, 1.722439169883728, 1.6588482856750488, -0.061394572257995605], "right_arm_joint_positions": [0.4338572025299072, -0.047771453857421875, 0.725618839263916, -2.3946447372436523, -0.996379017829895, 1.4308369159698486, -2.659743309020996], "pregrasp_goal_pose": [0.37319789741434223, 0.07081867802456643, 1.0492763994264003, 0.15649844785747333, 0.7455710923945065, 0.6335706472594188, 0.1349822837825214], "pregrasp_position_error": 0.04070417209398436, "pregrasp_orientation_error_deg": 9.574386692148904}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.02702702702702703, "tray_projected_count": 296, "tray_visible_count": 8}, "overhead": {"grasp_visibility": 0.9888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 89, "tray_visibility": 0.22972972972972974, "tray_projected_count": 296, "tray_visible_count": 68}, "wrist_right": {"grasp_visibility": 0.7, "grasp_projected_count": 90, "grasp_visible_count": 63, "tray_visibility": 0.3358208955223881, "tray_projected_count": 134, "tray_visible_count": 45}, "wrist_left": {"grasp_visibility": 0.7222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 65, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.21283783783783783, "tray_projected_count": 296, "tray_visible_count": 63}, "over_shoulder_right": {"grasp_visibility": 0.6333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 57, "tray_visibility": 0.38513513513513514, "tray_projected_count": 296, "tray_visible_count": 114}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.055453896522522, "final_height": 1.3601469993591309, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.0994257826237197, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.1851774983606591, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0186255323377453, "reliability": 1.0, "planner_score": 0.25713157079985943, "height_before": 1.055453896522522, "height_after": 1.1351523399353027}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0808002502859744, "reliability": 1.0, "planner_score": 0.23667509149523155, "height_before": 1.1351523399353027, "height_after": 1.3601469993591309}], "score": 1.0}}
+{"frame_index": 236, "state": {"door_angle": 0.48759686946868896, "tray_height": 1.0579793453216553, "tray_grasped_left": true, "left_arm_pose": [0.36970919370651245, 0.09288342297077179, 1.057387351989746, 0.13017527759075165, 0.6957599520683289, 0.694749116897583, 0.1276569366455078], "right_arm_pose": [0.4687567949295044, -0.5102658867835999, 1.085019588470459, -0.6257615089416504, 0.5016974210739136, 0.5806629657745361, 0.13983166217803955], "left_arm_joint_positions": [-0.19479632377624512, 0.3158591091632843, -0.13232704997062683, -2.1681418418884277, 1.696557879447937, 1.6303739547729492, -0.05491650104522705], "right_arm_joint_positions": [0.4338510036468506, -0.0476381778717041, 0.7255864143371582, -2.3946499824523926, -0.9963995218276978, 1.4308509826660156, -2.6597111225128174], "pregrasp_goal_pose": [0.3689606183009851, 0.05251747793972113, 1.0522213761000203, 0.15715725405358924, 0.7462187190075359, 0.6327794073535576, 0.13434821372228253], "pregrasp_position_error": 0.04070205388282994, "pregrasp_orientation_error_deg": 9.69867576497567}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.05405405405405406, "tray_projected_count": 296, "tray_visible_count": 16}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.2905405405405405, "tray_projected_count": 296, "tray_visible_count": 86}, "wrist_right": {"grasp_visibility": 0.7, "grasp_projected_count": 90, "grasp_visible_count": 63, "tray_visibility": 0.29577464788732394, "tray_projected_count": 142, "tray_visible_count": 42}, "wrist_left": {"grasp_visibility": 0.7222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 65, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.22635135135135134, "tray_projected_count": 296, "tray_visible_count": 67}, "over_shoulder_right": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.4358108108108108, "tray_projected_count": 296, "tray_visible_count": 129}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0579793453216553, "final_height": 1.3600809574127197, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.1254438422141404, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.1818907266823892, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0444894237496416, "reliability": 1.0, "planner_score": 0.24841549168160157, "height_before": 1.0579793453216553, "height_after": 1.1347076892852783}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0809544184644988, "reliability": 1.0, "planner_score": 0.236626446138103, "height_before": 1.1347076892852783, "height_after": 1.3600809574127197}], "score": 1.0}}
+{"frame_index": 237, "state": {"door_angle": 0.48721396923065186, "tray_height": 1.0607990026474, "tray_grasped_left": true, "left_arm_pose": [0.36529776453971863, 0.07424616068601608, 1.0601589679718018, 0.13022056221961975, 0.6957637667655945, 0.6947375535964966, 0.12765222787857056], "right_arm_pose": [0.4687606692314148, -0.5102528929710388, 1.0850391387939453, -0.6257495284080505, 0.5016929507255554, 0.5806765556335449, 0.13984425365924835], "left_arm_joint_positions": [-0.21679115295410156, 0.31191137433052063, -0.15026280283927917, -2.1679863929748535, 1.6702674627304077, 1.6009819507598877, -0.04819905757904053], "right_arm_joint_positions": [0.4338524341583252, -0.04768228530883789, 0.7255947589874268, -2.3946447372436523, -0.9963752031326294, 1.430856704711914, -2.6597185134887695], "pregrasp_goal_pose": [0.3645637934912572, 0.033893590546634295, 1.05465955029648, 0.15650852915568908, 0.7457571997507643, 0.6333103477069797, 0.13516391089594176], "pregrasp_position_error": 0.04073220132918608, "pregrasp_orientation_error_deg": 9.604002131528038}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.12162162162162163, "tray_projected_count": 296, "tray_visible_count": 36}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.3141891891891892, "tray_projected_count": 296, "tray_visible_count": 93}, "wrist_right": {"grasp_visibility": 0.7333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 66, "tray_visibility": 0.2191780821917808, "tray_projected_count": 146, "tray_visible_count": 32}, "wrist_left": {"grasp_visibility": 0.7222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 65, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.2939189189189189, "tray_projected_count": 296, "tray_visible_count": 87}, "over_shoulder_right": {"grasp_visibility": 0.6777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 61, "tray_visibility": 0.4864864864864865, "tray_projected_count": 296, "tray_visible_count": 144}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0607990026474, "final_height": 1.3601996898651123, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.156148657761087, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.1781540664785179, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.075083730077037, "reliability": 1.0, "planner_score": 0.23848592777458785, "height_before": 1.0607990026474, "height_after": 1.1350268125534058}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0810649276840498, "reliability": 1.0, "planner_score": 0.2365915828347932, "height_before": 1.1350268125534058, "height_after": 1.3601996898651123}], "score": 1.0}}
+{"frame_index": 238, "state": {"door_angle": 0.4875565767288208, "tray_height": 1.063923954963684, "tray_grasped_left": true, "left_arm_pose": [0.3608703315258026, 0.05540624260902405, 1.0631638765335083, 0.13017408549785614, 0.6957435607910156, 0.6947370171546936, 0.12781308591365814], "right_arm_pose": [0.4687650203704834, -0.5102509260177612, 1.085050344467163, -0.625741720199585, 0.5017168521881104, 0.5806692242622375, 0.13982442021369934], "left_arm_joint_positions": [-0.23932647705078125, 0.30950406193733215, -0.16855427622795105, -2.164489984512329, 1.644278883934021, 1.5710113048553467, -0.04138195514678955], "right_arm_joint_positions": [0.43384599685668945, -0.04785037040710449, 0.7255680561065674, -2.39457368850708, -0.9963427782058716, 1.4308435916900635, -2.659752368927002], "pregrasp_goal_pose": [0.36016942798479845, 0.015009380707140432, 1.0578147388925472, 0.1566727732131393, 0.7457114095206177, 0.6333471560381762, 0.13505375145782525], "pregrasp_position_error": 0.04075550258303282, "pregrasp_orientation_error_deg": 9.60398887862779}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.13513513513513514, "tray_projected_count": 296, "tray_visible_count": 40}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.375, "tray_projected_count": 296, "tray_visible_count": 111}, "wrist_right": {"grasp_visibility": 0.7111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 64, "tray_visibility": 0.3082191780821918, "tray_projected_count": 146, "tray_visible_count": 45}, "wrist_left": {"grasp_visibility": 0.7222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 65, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.39864864864864863, "tray_projected_count": 296, "tray_visible_count": 118}, "over_shoulder_right": {"grasp_visibility": 0.7444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 67, "tray_visibility": 0.5405405405405406, "tray_projected_count": 296, "tray_visible_count": 160}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.063923954963684, "final_height": 1.3597902059555054, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.190871427975142, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.17410772984376133, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.1097448474069136, "reliability": 1.0, "planner_score": 0.22771514468715054, "height_before": 1.063923954963684, "height_after": 1.1350255012512207}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0811265805682284, "reliability": 1.0, "planner_score": 0.23657213489621298, "height_before": 1.1350255012512207, "height_after": 1.3597902059555054}], "score": 1.0}}
+{"frame_index": 239, "state": {"door_angle": 0.48078787326812744, "tray_height": 1.0667564868927002, "tray_grasped_left": true, "left_arm_pose": [0.3563808500766754, 0.03673260658979416, 1.0660295486450195, 0.1301872730255127, 0.6956927180290222, 0.6947957277297974, 0.12775737047195435], "right_arm_pose": [0.46876320242881775, -0.5102837681770325, 1.0850470066070557, -0.6257632374763489, 0.5017288327217102, 0.5806372761726379, 0.13981746137142181], "left_arm_joint_positions": [-0.26178932189941406, 0.3093290627002716, -0.18637368083000183, -2.1587226390838623, 1.6189833879470825, 1.5406019687652588, -0.03447401523590088], "right_arm_joint_positions": [0.4338362216949463, -0.047791242599487305, 0.7255628108978271, -2.394432544708252, -0.9963556528091431, 1.4308364391326904, -2.6597681045532227], "pregrasp_goal_pose": [0.3556642166502558, -0.003630018674735558, 1.0605819015119824, 0.15656424981599107, 0.7456165249688713, 0.6334631677808532, 0.13515934461940501], "pregrasp_position_error": 0.0407348983182578, "pregrasp_orientation_error_deg": 9.59337071391344}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.15878378378378377, "tray_projected_count": 296, "tray_visible_count": 47}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.47297297297297297, "tray_projected_count": 296, "tray_visible_count": 140}, "wrist_right": {"grasp_visibility": 0.6888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 62, "tray_visibility": 0.3333333333333333, "tray_projected_count": 150, "tray_visible_count": 50}, "wrist_left": {"grasp_visibility": 0.7222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 65, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.40540540540540543, "tray_projected_count": 296, "tray_visible_count": 120}, "over_shoulder_right": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.5168918918918919, "tray_projected_count": 296, "tray_visible_count": 153}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0667564868927002, "final_height": 1.3609979152679443, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.228940365126235, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.16988313653627451, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.1479799496400829, "reliability": 1.0, "planner_score": 0.21639714335629284, "height_before": 1.0667564868927002, "height_after": 1.134966254234314}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0809604154861523, "reliability": 1.0, "planner_score": 0.23662455407377248, "height_before": 1.134966254234314, "height_after": 1.3609979152679443}], "score": 1.0}}
+{"frame_index": 240, "state": {"door_angle": 0.45849907398223877, "tray_height": 1.0699303150177002, "tray_grasped_left": true, "left_arm_pose": [0.35192546248435974, 0.01827399432659149, 1.0690566301345825, 0.1300155073404312, 0.6956396102905273, 0.6948831677436829, 0.12774546444416046], "right_arm_pose": [0.46876683831214905, -0.5102511644363403, 1.0849664211273193, -0.6257882714271545, 0.5016804933547974, 0.5806324481964111, 0.13989903032779694], "left_arm_joint_positions": [-0.28430843353271484, 0.3110335171222687, -0.20377370715141296, -2.149669885635376, 1.5945457220077515, 1.5098521709442139, -0.02757132053375244], "right_arm_joint_positions": [0.43384718894958496, -0.047483205795288086, 0.7255849838256836, -2.3946285247802734, -0.9963198900222778, 1.4308185577392578, -2.6597447395324707], "pregrasp_goal_pose": [0.35126447832664154, -0.022133789376768506, 1.0633928687785477, 0.15587506433424722, 0.7451360541746532, 0.6340738429591742, 0.13574088095635398], "pregrasp_position_error": 0.04080813738180651, "pregrasp_orientation_error_deg": 9.507829360253261}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.24324324324324326, "tray_projected_count": 296, "tray_visible_count": 72}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.4864864864864865, "tray_projected_count": 296, "tray_visible_count": 144}, "wrist_right": {"grasp_visibility": 0.7333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 66, "tray_visibility": 0.36, "tray_projected_count": 150, "tray_visible_count": 54}, "wrist_left": {"grasp_visibility": 0.7222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 65, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.47297297297297297, "tray_projected_count": 296, "tray_visible_count": 140}, "over_shoulder_right": {"grasp_visibility": 0.8444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 76, "tray_visibility": 0.6013513513513513, "tray_projected_count": 296, "tray_visible_count": 178}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0699303150177002, "final_height": 1.360551118850708, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.270512983808529, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.1655032820612093, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.1892917309378512, "reliability": 1.0, "planner_score": 0.20479981115393525, "height_before": 1.0699303150177002, "height_after": 1.135303258895874}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.081221252870678, "reliability": 1.0, "planner_score": 0.23654227434262284, "height_before": 1.135303258895874, "height_after": 1.360551118850708}], "score": 1.0}}
+{"frame_index": 241, "state": {"door_angle": 0.44087207317352295, "tray_height": 1.0729058980941772, "tray_grasped_left": true, "left_arm_pose": [0.34751027822494507, -5.431473255157471e-05, 1.0719512701034546, 0.1299048513174057, 0.6956223249435425, 0.6949338316917419, 0.12767696380615234], "right_arm_pose": [0.46877551078796387, -0.5102511048316956, 1.085033655166626, -0.6257514357566833, 0.5017051696777344, 0.5806650519371033, 0.1398402601480484], "left_arm_joint_positions": [-0.30668210983276367, 0.31485822796821594, -0.22059032320976257, -2.1379826068878174, 1.5711919069290161, 1.4790773391723633, -0.020673155784606934], "right_arm_joint_positions": [0.43384456634521484, -0.0477900505065918, 0.7255830764770508, -2.394646167755127, -0.9963234663009644, 1.430816888809204, -2.659735679626465], "pregrasp_goal_pose": [0.3467865079495199, -0.04044041611863673, 1.0666574369338453, 0.15629722423787232, 0.7455257926422532, 0.633643645711062, 0.135122908681951], "pregrasp_position_error": 0.04073801293885594, "pregrasp_orientation_error_deg": 9.589422462109633}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.3888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 35, "tray_visibility": 0.2702702702702703, "tray_projected_count": 296, "tray_visible_count": 80}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5912162162162162, "tray_projected_count": 296, "tray_visible_count": 175}, "wrist_right": {"grasp_visibility": 0.8111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 73, "tray_visibility": 0.33986928104575165, "tray_projected_count": 153, "tray_visible_count": 52}, "wrist_left": {"grasp_visibility": 0.7222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 65, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5236486486486487, "tray_projected_count": 296, "tray_visible_count": 155}, "over_shoulder_right": {"grasp_visibility": 0.8888888888888888, "grasp_projected_count": 90, "grasp_visible_count": 80, "tray_visibility": 0.6959459459459459, "tray_projected_count": 296, "tray_visible_count": 206}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0729058980941772, "final_height": 1.3603707551956177, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.314337409877531, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.16114793004896558, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.2332852432839319, "reliability": 1.0, "planner_score": 0.19313220503941655, "height_before": 1.0729058980941772, "height_after": 1.1352418661117554}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0810521665935993, "reliability": 1.0, "planner_score": 0.23659560842449162, "height_before": 1.1352418661117554, "height_after": 1.3603707551956177}], "score": 1.0}}
+{"frame_index": 242, "state": {"door_angle": 0.42366254329681396, "tray_height": 1.0757375955581665, "tray_grasped_left": true, "left_arm_pose": [0.3430892825126648, -0.018359437584877014, 1.074756145477295, 0.12995116412639618, 0.6955758333206177, 0.694965660572052, 0.1277099847793579], "right_arm_pose": [0.4687706232070923, -0.5102532505989075, 1.0850166082382202, -0.6257720589637756, 0.5016906261444092, 0.5806489586830139, 0.1398662030696869], "left_arm_joint_positions": [-0.32918214797973633, 0.3203602135181427, -0.2371635138988495, -2.123913049697876, 1.5493558645248413, 1.4482743740081787, -0.013841748237609863], "right_arm_joint_positions": [0.4338505268096924, -0.04758810997009277, 0.7255728244781494, -2.394656181335449, -0.9963639974594116, 1.4308445453643799, -2.6597437858581543], "pregrasp_goal_pose": [0.3423819378587416, -0.058710958828437076, 1.0691204541411523, 0.15570461996565535, 0.7450472711716446, 0.6341894983854587, 0.13588346175542232], "pregrasp_position_error": 0.040749314349632755, "pregrasp_orientation_error_deg": 9.501532961967964}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.8, "grasp_projected_count": 90, "grasp_visible_count": 72, "tray_visibility": 0.32432432432432434, "tray_projected_count": 296, "tray_visible_count": 96}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5878378378378378, "tray_projected_count": 296, "tray_visible_count": 174}, "wrist_right": {"grasp_visibility": 0.7222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 65, "tray_visibility": 0.42592592592592593, "tray_projected_count": 162, "tray_visible_count": 69}, "wrist_left": {"grasp_visibility": 0.7222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 65, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5337837837837838, "tray_projected_count": 296, "tray_visible_count": 158}, "over_shoulder_right": {"grasp_visibility": 0.9444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 85, "tray_visibility": 0.6756756756756757, "tray_projected_count": 296, "tray_visible_count": 200}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0757375955581665, "final_height": 1.3614543676376343, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.3605442403297934, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.15681635388531767, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.279338027719016, "reliability": 1.0, "planner_score": 0.18162992576094983, "height_before": 1.0757375955581665, "height_after": 1.1352295875549316}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0812062126107775, "reliability": 1.0, "planner_score": 0.23654701793323066, "height_before": 1.1352295875549316, "height_after": 1.3614543676376343}], "score": 1.0}}
+{"frame_index": 243, "state": {"door_angle": 0.409030556678772, "tray_height": 1.0783694982528687, "tray_grasped_left": true, "left_arm_pose": [0.3388081192970276, -0.03617937117815018, 1.0774617195129395, 0.1299673616886139, 0.6955211162567139, 0.6950337886810303, 0.12762027978897095], "right_arm_pose": [0.4687747359275818, -0.5102398991584778, 1.0850077867507935, -0.6257645487785339, 0.5016990900039673, 0.5806493759155273, 0.1398683488368988], "left_arm_joint_positions": [-0.3511955738067627, 0.3279624283313751, -0.2527737319469452, -2.107191801071167, 1.5290383100509644, 1.4177165031433105, -0.006956219673156738], "right_arm_joint_positions": [0.4338502883911133, -0.04763531684875488, 0.7255566120147705, -2.3945412635803223, -0.9963468313217163, 1.4308335781097412, -2.6597509384155273], "pregrasp_goal_pose": [0.33812779222906286, -0.07653666752148282, 1.0720694146969307, 0.15629936565989314, 0.7453396276897427, 0.6338759776122197, 0.1350577383780115], "pregrasp_position_error": 0.04072163017723782, "pregrasp_orientation_error_deg": 9.570216929407286}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.9888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 89, "tray_visibility": 0.3918918918918919, "tray_projected_count": 296, "tray_visible_count": 116}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6081081081081081, "tray_projected_count": 296, "tray_visible_count": 180}, "wrist_right": {"grasp_visibility": 0.7666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 69, "tray_visibility": 0.4235294117647059, "tray_projected_count": 170, "tray_visible_count": 72}, "wrist_left": {"grasp_visibility": 0.7222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 65, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5608108108108109, "tray_projected_count": 296, "tray_visible_count": 166}, "over_shoulder_right": {"grasp_visibility": 0.9777777777777777, "grasp_projected_count": 90, "grasp_visible_count": 88, "tray_visibility": 0.6418918918918919, "tray_projected_count": 296, "tray_visible_count": 190}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0783694982528687, "final_height": 1.360414743423462, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.4083927397850635, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.15260498667146377, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.3271345429596515, "reliability": 1.0, "planner_score": 0.17041600823707886, "height_before": 1.0783694982528687, "height_after": 1.1351264715194702}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0812581968254118, "reliability": 1.0, "planner_score": 0.23653062288682453, "height_before": 1.1351264715194702, "height_after": 1.360414743423462}], "score": 1.0}}
+{"frame_index": 244, "state": {"door_angle": 0.40425360202789307, "tray_height": 1.0811032056808472, "tray_grasped_left": true, "left_arm_pose": [0.3347605764865875, -0.05289684236049652, 1.0800209045410156, 0.13014580309391022, 0.6953458189964294, 0.6951469779014587, 0.1277773231267929], "right_arm_pose": [0.4687644839286804, -0.5102525949478149, 1.0850327014923096, -0.6257484555244446, 0.5017120242118835, 0.5806616544723511, 0.13984312117099762], "left_arm_joint_positions": [-0.37220263481140137, 0.3364739716053009, -0.2668435275554657, -2.089782953262329, 1.5117233991622925, 1.3890502452850342, -0.0006405115127563477], "right_arm_joint_positions": [0.4338340759277344, -0.04763960838317871, 0.7255852222442627, -2.3945326805114746, -0.996355414390564, 1.4308438301086426, -2.6597301959991455], "pregrasp_goal_pose": [0.33404228088392635, -0.093265345428722, 1.0749335276967005, 0.15660367211408777, 0.7455883827741002, 0.633497300297311, 0.13510893334159516], "pregrasp_position_error": 0.04069414443993394, "pregrasp_orientation_error_deg": 9.644054904163418}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.4222972972972973, "tray_projected_count": 296, "tray_visible_count": 125}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6756756756756757, "tray_projected_count": 296, "tray_visible_count": 200}, "wrist_right": {"grasp_visibility": 0.8444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 76, "tray_visibility": 0.39655172413793105, "tray_projected_count": 174, "tray_visible_count": 69}, "wrist_left": {"grasp_visibility": 0.7222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 65, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5709459459459459, "tray_projected_count": 296, "tray_visible_count": 169}, "over_shoulder_right": {"grasp_visibility": 0.9888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 89, "tray_visibility": 0.6418918918918919, "tray_projected_count": 296, "tray_visible_count": 190}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0811032056808472, "final_height": 1.3609423637390137, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.4544178086550654, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.14879966712033765, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.3731196815483695, "reliability": 1.0, "planner_score": 0.16028108207792663, "height_before": 1.0811032056808472, "height_after": 1.1351442337036133}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.081298127106696, "reliability": 1.0, "planner_score": 0.2365180302429738, "height_before": 1.1351442337036133, "height_after": 1.3609423637390137}], "score": 1.0}}
+{"frame_index": 245, "state": {"door_angle": 0.3976386785507202, "tray_height": 1.0833433866500854, "tray_grasped_left": true, "left_arm_pose": [0.33127251267433167, -0.06710386276245117, 1.0823432207107544, 0.13022416830062866, 0.695218563079834, 0.6952289342880249, 0.12794393301010132], "right_arm_pose": [0.46876439452171326, -0.5102754235267639, 1.0850294828414917, -0.6257783770561218, 0.5017128586769104, 0.5806294679641724, 0.13983993232250214], "left_arm_joint_positions": [-0.3901662826538086, 0.34452155232429504, -0.27831146121025085, -2.073429822921753, 1.497867226600647, 1.3645739555358887, 0.004846453666687012], "right_arm_joint_positions": [0.433849573135376, -0.04766201972961426, 0.7255830764770508, -2.394566059112549, -0.9963287115097046, 1.4308531284332275, -2.659778118133545], "pregrasp_goal_pose": [0.3305810536111444, -0.10749277933706504, 1.0773079131087622, 0.15709457893041295, 0.745553597012376, 0.6335030402150994, 0.1347034717103103], "pregrasp_position_error": 0.04070745656945252, "pregrasp_orientation_error_deg": 9.666278532123572}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.4527027027027027, "tray_projected_count": 296, "tray_visible_count": 134}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6959459459459459, "tray_projected_count": 296, "tray_visible_count": 206}, "wrist_right": {"grasp_visibility": 0.9, "grasp_projected_count": 90, "grasp_visible_count": 81, "tray_visibility": 0.43103448275862066, "tray_projected_count": 174, "tray_visible_count": 75}, "wrist_left": {"grasp_visibility": 0.7666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 69, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6283783783783784, "tray_projected_count": 296, "tray_visible_count": 186}, "over_shoulder_right": {"grasp_visibility": 0.9888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 89, "tray_visibility": 0.7162162162162162, "tray_projected_count": 296, "tray_visible_count": 212}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0833433866500854, "final_height": 1.3602378368377686, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.4950779191882653, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.14562134600828944, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.4136250223202171, "reliability": 1.0, "planner_score": 0.1518543618622931, "height_before": 1.0833433866500854, "height_after": 1.1347655057907104}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.081452896868048, "reliability": 1.0, "planner_score": 0.2364692274931454, "height_before": 1.1347655057907104, "height_after": 1.3602378368377686}], "score": 1.0}}
+{"frame_index": 246, "state": {"door_angle": 0.3921855688095093, "tray_height": 1.0850780010223389, "tray_grasped_left": true, "left_arm_pose": [0.3284902274608612, -0.07810080051422119, 1.0840946435928345, 0.13024859130382538, 0.6951785087585449, 0.695263683795929, 0.12794756889343262], "right_arm_pose": [0.46877676248550415, -0.510261595249176, 1.0850311517715454, -0.625761091709137, 0.5017033815383911, 0.5806553363800049, 0.1398436576128006], "left_arm_joint_positions": [-0.40412235260009766, 0.35152772068977356, -0.28718873858451843, -2.059612274169922, 1.4875510931015015, 1.345451831817627, 0.009172797203063965], "right_arm_joint_positions": [0.43384528160095215, -0.04770708084106445, 0.7255802154541016, -2.394578456878662, -0.9963623285293579, 1.4308509826660156, -2.6597609519958496], "pregrasp_goal_pose": [0.3277609653898289, -0.11847766010878856, 1.0784826834059296, 0.15623207163877975, 0.7447789078948258, 0.6343945957781054, 0.13579180753631628], "pregrasp_position_error": 0.04077151838020089, "pregrasp_orientation_error_deg": 9.522753040662542}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.46621621621621623, "tray_projected_count": 296, "tray_visible_count": 138}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6993243243243243, "tray_projected_count": 296, "tray_visible_count": 207}, "wrist_right": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 90, "grasp_visible_count": 75, "tray_visibility": 0.4659090909090909, "tray_projected_count": 176, "tray_visible_count": 82}, "wrist_left": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.15384615384615385, "tray_projected_count": 156, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.597972972972973, "tray_projected_count": 296, "tray_visible_count": 177}, "over_shoulder_right": {"grasp_visibility": 0.9666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 87, "tray_visibility": 0.75, "tray_projected_count": 296, "tray_visible_count": 222}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0850780010223389, "final_height": 1.360305905342102, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.5272231460006838, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.14324942668645196, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.446148192882092, "reliability": 1.0, "planner_score": 0.14541005088584386, "height_before": 1.0850780010223389, "height_after": 1.1352980136871338}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.081074953118592, "reliability": 1.0, "planner_score": 0.23658842027802804, "height_before": 1.1352980136871338, "height_after": 1.360305905342102}], "score": 1.0}}
+{"frame_index": 247, "state": {"door_angle": 0.39127886295318604, "tray_height": 1.0858101844787598, "tray_grasped_left": true, "left_arm_pose": [0.3264862596988678, -0.08575500547885895, 1.0851441621780396, 0.1303546279668808, 0.6951461434364319, 0.695311963558197, 0.12775342166423798], "right_arm_pose": [0.4687647223472595, -0.5102483034133911, 1.084976077079773, -0.6257864832878113, 0.5016773343086243, 0.5806379318237305, 0.13989567756652832], "left_arm_joint_positions": [-0.41376256942749023, 0.3570385277271271, -0.2930106818675995, -2.049760341644287, 1.4804924726486206, 1.3320186138153076, 0.012285828590393066], "right_arm_joint_positions": [0.43384361267089844, -0.047525882720947266, 0.7255852222442627, -2.394598960876465, -0.9963234663009644, 1.4308140277862549, -2.659764051437378], "pregrasp_goal_pose": [0.3257597436155276, -0.12611705150868405, 1.079589085528178, 0.15689829260817492, 0.7451690335100003, 0.6339668132825569, 0.13487815586955176], "pregrasp_position_error": 0.04074900565558513, "pregrasp_orientation_error_deg": 9.604492708311547}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.47635135135135137, "tray_projected_count": 296, "tray_visible_count": 141}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6824324324324325, "tray_projected_count": 296, "tray_visible_count": 202}, "wrist_right": {"grasp_visibility": 0.8555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 77, "tray_visibility": 0.4431818181818182, "tray_projected_count": 176, "tray_visible_count": 78}, "wrist_left": {"grasp_visibility": 0.7857142857142857, "grasp_projected_count": 84, "grasp_visible_count": 66, "tray_visibility": 0.15584415584415584, "tray_projected_count": 154, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6554054054054054, "tray_projected_count": 296, "tray_visible_count": 194}, "over_shoulder_right": {"grasp_visibility": 0.9111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 82, "tray_visibility": 0.7702702702702703, "tray_projected_count": 296, "tray_visible_count": 228}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0858101844787598, "final_height": 1.3600008487701416, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.550844708295542, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.14154870393470154, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.4695589515514405, "reliability": 1.0, "planner_score": 0.14094127913233256, "height_before": 1.0858101844787598, "height_after": 1.1347893476486206}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0812857567441014, "reliability": 1.0, "planner_score": 0.23652193136020483, "height_before": 1.1347893476486206, "height_after": 1.3600008487701416}], "score": 1.0}}
+{"frame_index": 248, "state": {"door_angle": 0.3910404443740845, "tray_height": 1.086283564567566, "tray_grasped_left": true, "left_arm_pose": [0.3257099986076355, -0.08856353163719177, 1.0856114625930786, 0.13034319877624512, 0.6951567530632019, 0.6953175067901611, 0.12767712771892548], "right_arm_pose": [0.4687877893447876, -0.510224461555481, 1.084979772567749, -0.6257673501968384, 0.501670241355896, 0.5806639790534973, 0.13989846408367157], "left_arm_joint_positions": [-0.4171485900878906, 0.3589031994342804, -0.2951056659221649, -2.0462443828582764, 1.4780484437942505, 1.3273141384124756, 0.013352513313293457], "right_arm_joint_positions": [0.43383193016052246, -0.04770922660827637, 0.7255985736846924, -2.3946480751037598, -0.9963289499282837, 1.4308264255523682, -2.6597390174865723], "pregrasp_goal_pose": [0.324964040075012, -0.12883837722849203, 1.080069173994472, 0.15694659058142227, 0.7451237722355386, 0.6340277606877587, 0.13478549785349625], "pregrasp_position_error": 0.040661242042585415, "pregrasp_orientation_error_deg": 9.598030105551134}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.47635135135135137, "tray_projected_count": 296, "tray_visible_count": 141}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6385135135135135, "tray_projected_count": 296, "tray_visible_count": 189}, "wrist_right": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.4576271186440678, "tray_projected_count": 177, "tray_visible_count": 81}, "wrist_left": {"grasp_visibility": 0.8214285714285714, "grasp_projected_count": 84, "grasp_visible_count": 69, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.7128378378378378, "tray_projected_count": 296, "tray_visible_count": 211}, "over_shoulder_right": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.6824324324324325, "tray_projected_count": 296, "tray_visible_count": 202}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.086283564567566, "final_height": 1.36092209815979, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.5595465283363836, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.14094206372781654, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.478323286143813, "reliability": 1.0, "planner_score": 0.13930385634235576, "height_before": 1.086283564567566, "height_after": 1.1347500085830688}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0812232421925707, "reliability": 1.0, "planner_score": 0.2365416469318217, "height_before": 1.1347500085830688, "height_after": 1.36092209815979}], "score": 1.0}}
+{"frame_index": 249, "state": {"door_angle": 0.3907400369644165, "tray_height": 1.086915135383606, "tray_grasped_left": true, "left_arm_pose": [0.3250299394130707, -0.09100719541311264, 1.0860141515731812, 0.13024760782718658, 0.6951629519462585, 0.6953451037406921, 0.12759023904800415], "right_arm_pose": [0.4687730669975281, -0.5102350115776062, 1.0849883556365967, -0.6257821321487427, 0.5016695261001587, 0.580649733543396, 0.13989439606666565], "left_arm_joint_positions": [-0.42040348052978516, 0.3605556786060333, -0.2970716655254364, -2.0426201820373535, 1.4757221937179565, 1.3226616382598877, 0.01438915729522705], "right_arm_joint_positions": [0.43384552001953125, -0.047612905502319336, 0.7255969047546387, -2.394619941711426, -0.9963282346725464, 1.4308686256408691, -2.659733772277832], "pregrasp_goal_pose": [0.32432515703235987, -0.13135415151947702, 1.080851665171148, 0.15694111246425768, 0.7454996326916978, 0.6336326274993421, 0.13457146147420906], "pregrasp_position_error": 0.04068199664598865, "pregrasp_orientation_error_deg": 9.660891179388846}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5033783783783784, "tray_projected_count": 296, "tray_visible_count": 149}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.6891891891891891, "tray_projected_count": 296, "tray_visible_count": 204}, "wrist_right": {"grasp_visibility": 0.9555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 86, "tray_visibility": 0.5224719101123596, "tray_projected_count": 178, "tray_visible_count": 93}, "wrist_left": {"grasp_visibility": 0.8214285714285714, "grasp_projected_count": 84, "grasp_visible_count": 69, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.6452702702702703, "tray_projected_count": 296, "tray_visible_count": 191}, "over_shoulder_right": {"grasp_visibility": 0.9, "grasp_projected_count": 90, "grasp_visible_count": 81, "tray_visibility": 0.6925675675675675, "tray_projected_count": 296, "tray_visible_count": 205}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.086915135383606, "final_height": 1.3600572347640991, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.5675986006527003, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.14037221878700654, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.486132060348001, "reliability": 1.0, "planner_score": 0.13786099090364626, "height_before": 1.086915135383606, "height_after": 1.1347229480743408}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0814665403046992, "reliability": 1.0, "planner_score": 0.2364649258617045, "height_before": 1.1347229480743408, "height_after": 1.3600572347640991}], "score": 1.0}}
+{"frame_index": 250, "state": {"door_angle": 0.3906339406967163, "tray_height": 1.0869085788726807, "tray_grasped_left": true, "left_arm_pose": [0.3248077929019928, -0.09200155735015869, 1.086194634437561, 0.13023002445697784, 0.6951673030853271, 0.695341944694519, 0.12760217487812042], "right_arm_pose": [0.4687749743461609, -0.5102576613426208, 1.084963083267212, -0.6258021593093872, 0.5016487240791321, 0.5806460380554199, 0.13989435136318207], "left_arm_joint_positions": [-0.4215872287750244, 0.3613944351673126, -0.2977888286113739, -2.0413472652435303, 1.4749001264572144, 1.3210530281066895, 0.01474916934967041], "right_arm_joint_positions": [0.43384718894958496, -0.04761981964111328, 0.7256114482879639, -2.3947062492370605, -0.9963816404342651, 1.4308586120605469, -2.659778594970703], "pregrasp_goal_pose": [0.324112596252784, -0.1323779098776539, 1.0808657970752567, 0.15700995891249372, 0.7454819084529831, 0.6336579606604166, 0.13447001845496095], "pregrasp_position_error": 0.040732415217361366, "pregrasp_orientation_error_deg": 9.6590629560598}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.4864864864864865, "tray_projected_count": 296, "tray_visible_count": 144}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.7195945945945946, "tray_projected_count": 296, "tray_visible_count": 213}, "wrist_right": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.5168539325842697, "tray_projected_count": 178, "tray_visible_count": 92}, "wrist_left": {"grasp_visibility": 0.8214285714285714, "grasp_projected_count": 84, "grasp_visible_count": 69, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.6790540540540541, "tray_projected_count": 296, "tray_visible_count": 201}, "over_shoulder_right": {"grasp_visibility": 0.9, "grasp_projected_count": 90, "grasp_visible_count": 81, "tray_visibility": 0.6790540540540541, "tray_projected_count": 296, "tray_visible_count": 201}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0869085788726807, "final_height": 1.3607759475708008, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.5704982441241153, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.14018692215129794, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.489317798935593, "reliability": 1.0, "planner_score": 0.13727664738809628, "height_before": 1.0869085788726807, "height_after": 1.1347293853759766}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0811804451885223, "reliability": 1.0, "planner_score": 0.2365551450153649, "height_before": 1.1347293853759766, "height_after": 1.3607759475708008}], "score": 1.0}}
+{"frame_index": 251, "state": {"door_angle": 0.3907362222671509, "tray_height": 1.088327407836914, "tray_grasped_left": true, "left_arm_pose": [0.32468917965888977, -0.09233178198337555, 1.0874505043029785, 0.13024456799030304, 0.6951757669448853, 0.6953377723693848, 0.12756356596946716], "right_arm_pose": [0.46873795986175537, -0.5103433728218079, 1.0851926803588867, -0.6257309913635254, 0.5017477869987488, 0.5806796550750732, 0.13971787691116333], "left_arm_joint_positions": [-0.4218459129333496, 0.35938480496406555, -0.298188179731369, -2.041001558303833, 1.4745763540267944, 1.3204996585845947, 0.017215847969055176], "right_arm_joint_positions": [0.4338827133178711, -0.047856807708740234, 0.7256319522857666, -2.394280433654785, -0.9963735342025757, 1.4307725429534912, -2.659846544265747], "pregrasp_goal_pose": [0.3239573721157205, -0.13268160801177792, 1.0822629011311338, 0.1570093633343088, 0.7454141941983357, 0.633738581134135, 0.13446616561460475], "pregrasp_position_error": 0.04068851471203035, "pregrasp_orientation_error_deg": 9.646502130433168}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.4797297297297297, "tray_projected_count": 296, "tray_visible_count": 142}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.6925675675675675, "tray_projected_count": 296, "tray_visible_count": 205}, "wrist_right": {"grasp_visibility": 0.9444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 85, "tray_visibility": 0.5617977528089888, "tray_projected_count": 178, "tray_visible_count": 100}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.6790540540540541, "tray_projected_count": 296, "tray_visible_count": 201}, "over_shoulder_right": {"grasp_visibility": 0.7888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 71, "tray_visibility": 0.6317567567567568, "tray_projected_count": 296, "tray_visible_count": 187}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.088327407836914, "final_height": 1.3587946891784668, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.570927018792508, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.1401581860108961, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.4897603783600906, "reliability": 1.0, "planner_score": 0.1371956635255099, "height_before": 1.088327407836914, "height_after": 1.1348775625228882}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0811666404324178, "reliability": 1.0, "planner_score": 0.23655949917021304, "height_before": 1.1348775625228882, "height_after": 1.3587946891784668}], "score": 1.0}}
+{"frame_index": 252, "state": {"door_angle": 0.39098870754241943, "tray_height": 1.0925363302230835, "tray_grasped_left": true, "left_arm_pose": [0.32466772198677063, -0.0924791470170021, 1.0917357206344604, 0.1302228718996048, 0.6951698064804077, 0.695351243019104, 0.12754493951797485], "right_arm_pose": [0.4687403440475464, -0.5103887319564819, 1.085301399230957, -0.6256923675537109, 0.5017942190170288, 0.5807042717933655, 0.13962151110172272], "left_arm_joint_positions": [-0.42154407501220703, 0.3519749939441681, -0.2987205684185028, -2.0403926372528076, 1.474537968635559, 1.3202815055847168, 0.025098681449890137], "right_arm_joint_positions": [0.4338815212249756, -0.04798293113708496, 0.7256317138671875, -2.3942017555236816, -0.996376633644104, 1.4307215213775635, -2.6598873138427734], "pregrasp_goal_pose": [0.32398144964892084, -0.13282048534687368, 1.086312364825496, 0.15669031403772415, 0.7452329891416691, 0.6339658855119228, 0.1347708922164428], "pregrasp_position_error": 0.04071003974694071, "pregrasp_orientation_error_deg": 9.608857785410837}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.4594594594594595, "tray_projected_count": 296, "tray_visible_count": 136}, "overhead": {"grasp_visibility": 0.8555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 77, "tray_visibility": 0.6621621621621622, "tray_projected_count": 296, "tray_visible_count": 196}, "wrist_right": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.5393258426966292, "tray_projected_count": 178, "tray_visible_count": 96}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.7195945945945946, "tray_projected_count": 296, "tray_visible_count": 213}, "over_shoulder_right": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.6790540540540541, "tray_projected_count": 296, "tray_visible_count": 201}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0925363302230835, "final_height": 1.360223412513733, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.569985534789361, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.14021320503689616, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.4886251284025407, "reliability": 1.0, "planner_score": 0.137403489270199, "height_before": 1.0925363302230835, "height_after": 1.1348775625228882}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0813604063868207, "reliability": 1.0, "planner_score": 0.2364983908281907, "height_before": 1.1348775625228882, "height_after": 1.360223412513733}], "score": 1.0}}
+{"frame_index": 253, "state": {"door_angle": 0.3911362886428833, "tray_height": 1.1007531881332397, "tray_grasped_left": true, "left_arm_pose": [0.32469531893730164, -0.09256413578987122, 1.0996769666671753, 0.13021931052207947, 0.6951549649238586, 0.6953642964363098, 0.12755809724330902], "right_arm_pose": [0.46873918175697327, -0.5103936791419983, 1.085289716720581, -0.6256978511810303, 0.5017963647842407, 0.5806942582130432, 0.1396315097808838], "left_arm_joint_positions": [-0.4208061695098877, 0.33844926953315735, -0.2996675670146942, -2.039273977279663, 1.4746142625808716, 1.3201653957366943, 0.039627671241760254], "right_arm_joint_positions": [0.433882474899292, -0.04797649383544922, 0.7256407737731934, -2.3942322731018066, -0.996369481086731, 1.4307265281677246, -2.6599314212799072], "pregrasp_goal_pose": [0.32400872841863215, -0.13290852665157307, 1.0943038540069054, 0.15636101151670134, 0.7449028036021137, 0.6343460382947244, 0.13518931526926603], "pregrasp_position_error": 0.04070640760619944, "pregrasp_orientation_error_deg": 9.548795778699981}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.46959459459459457, "tray_projected_count": 296, "tray_visible_count": 139}, "overhead": {"grasp_visibility": 0.8, "grasp_projected_count": 90, "grasp_visible_count": 72, "tray_visibility": 0.6858108108108109, "tray_projected_count": 296, "tray_visible_count": 203}, "wrist_right": {"grasp_visibility": 0.8888888888888888, "grasp_projected_count": 90, "grasp_visible_count": 80, "tray_visibility": 0.449438202247191, "tray_projected_count": 178, "tray_visible_count": 80}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 85, "tray_visibility": 0.7195945945945946, "tray_projected_count": 296, "tray_visible_count": 213}, "over_shoulder_right": {"grasp_visibility": 0.7888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 71, "tray_visibility": 0.652027027027027, "tray_projected_count": 296, "tray_visible_count": 193}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.1007531881332397, "final_height": 1.3611388206481934, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.567387393040878, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.1403999053527784, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.486187012443157, "reliability": 1.0, "planner_score": 0.13785089027329742, "height_before": 1.1007531881332397, "height_after": 1.1351662874221802}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.081200380597721, "reliability": 1.0, "planner_score": 0.23654885733411166, "height_before": 1.1351662874221802, "height_after": 1.3611388206481934}], "score": 1.0}}
+{"frame_index": 254, "state": {"door_angle": 0.391140341758728, "tray_height": 1.1123168468475342, "tray_grasped_left": true, "left_arm_pose": [0.32476910948753357, -0.09267697483301163, 1.1113992929458618, 0.13020582497119904, 0.6951790452003479, 0.6953514814376831, 0.12751033902168274], "right_arm_pose": [0.4687389135360718, -0.5103961229324341, 1.0852909088134766, -0.6256961822509766, 0.5017975568771362, 0.580695390701294, 0.1396295428276062], "left_arm_joint_positions": [-0.4197390079498291, 0.319227010011673, -0.30086061358451843, -2.0368289947509766, 1.474868655204773, 1.3200583457946777, 0.061386704444885254], "right_arm_joint_positions": [0.4338858127593994, -0.04795956611633301, 0.7256336212158203, -2.3941831588745117, -0.9963606595993042, 1.430722713470459, -2.6599173545837402], "pregrasp_goal_pose": [0.32404882803580787, -0.13300907549336896, 1.105806010942427, 0.15625079531822475, 0.7448235438937538, 0.6344421949860337, 0.13530217531612454], "pregrasp_position_error": 0.04072446381005947, "pregrasp_orientation_error_deg": 9.530792425153303}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.47297297297297297, "tray_projected_count": 296, "tray_visible_count": 140}, "overhead": {"grasp_visibility": 0.8555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 77, "tray_visibility": 0.6756756756756757, "tray_projected_count": 296, "tray_visible_count": 200}, "wrist_right": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 90, "grasp_visible_count": 75, "tray_visibility": 0.40804597701149425, "tray_projected_count": 174, "tray_visible_count": 71}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9, "grasp_projected_count": 90, "grasp_visible_count": 81, "tray_visibility": 0.6621621621621622, "tray_projected_count": 296, "tray_visible_count": 196}, "over_shoulder_right": {"grasp_visibility": 0.7444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 67, "tray_visibility": 0.6554054054054054, "tray_projected_count": 296, "tray_visible_count": 194}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.1123168468475342, "final_height": 1.1123168468475342, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 0.8421260992685949}}
+{"frame_index": 255, "state": {"door_angle": 0.3910585641860962, "tray_height": 1.167273998260498, "tray_grasped_left": true, "left_arm_pose": [0.324878990650177, -0.09282359480857849, 1.1271599531173706, 0.13022491335868835, 0.695208728313446, 0.6953343749046326, 0.1274227499961853], "right_arm_pose": [0.46872609853744507, -0.5103936195373535, 1.085268497467041, -0.6257067918777466, 0.5017840266227722, 0.5806909203529358, 0.1396489143371582], "left_arm_joint_positions": [-0.4184305667877197, 0.2945292294025421, -0.3021950423717499, -2.0321507453918457, 1.4756041765213013, 1.3198904991149902, 0.09104001522064209], "right_arm_joint_positions": [0.4338862895965576, -0.047867774963378906, 0.7256147861480713, -2.3941097259521484, -0.99634850025177, 1.4307255744934082, -2.659886121749878], "pregrasp_goal_pose": [0.3090060994608171, -0.10890704916204284, 1.1456540759668024, 0.11499465510067092, 0.7111008437583016, 0.6845674909867895, 0.11171020360092894], "pregrasp_position_error": 0.02920032120746456, "pregrasp_orientation_error_deg": 3.3357557081842573}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.013513513513513514, "tray_projected_count": 296, "tray_visible_count": 4}, "overhead": {"grasp_visibility": 0.6777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 61, "tray_visibility": 0.125, "tray_projected_count": 296, "tray_visible_count": 37}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 102, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.11320754716981132, "grasp_projected_count": 53, "grasp_visible_count": 6, "tray_visibility": 0.0, "tray_projected_count": 154, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.6, "grasp_projected_count": 90, "grasp_visible_count": 54, "tray_visibility": 0.05405405405405406, "tray_projected_count": 296, "tray_visible_count": 16}, "over_shoulder_right": {"grasp_visibility": 0.5666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 51, "tray_visibility": 0.05555555555555555, "tray_projected_count": 288, "tray_visible_count": 16}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.167273998260498, "final_height": 1.167273998260498, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 256, "state": {"door_angle": 0.3908921480178833, "tray_height": 1.14750337600708, "tray_grasped_left": true, "left_arm_pose": [0.3250102698802948, -0.09298288822174072, 1.1461750268936157, 0.13017061352729797, 0.6952412128448486, 0.6953142881393433, 0.12741060554981232], "right_arm_pose": [0.46873223781585693, -0.510393500328064, 1.0852984189987183, -0.6256958246231079, 0.5017933249473572, 0.5806997418403625, 0.139628067612648], "left_arm_joint_positions": [-0.4170670509338379, 0.2665918171405792, -0.3034643828868866, -2.024397850036621, 1.4769562482833862, 1.319666862487793, 0.12677514553070068], "right_arm_joint_positions": [0.4338960647583008, -0.047914981842041016, 0.7256114482879639, -2.394179344177246, -0.99638831615448, 1.4307403564453125, -2.659919261932373], "pregrasp_goal_pose": [0.32435699422804715, -0.13331089235655447, 1.1407792881499401, 0.1557945548941372, 0.7445732676462921, 0.6347732124790293, 0.1356527717774822], "pregrasp_position_error": 0.04069261214477852, "pregrasp_orientation_error_deg": 9.468394828509005}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.46621621621621623, "tray_projected_count": 296, "tray_visible_count": 138}, "overhead": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.6587837837837838, "tray_projected_count": 296, "tray_visible_count": 195}, "wrist_right": {"grasp_visibility": 0.7555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 68, "tray_visibility": 0.24193548387096775, "tray_projected_count": 124, "tray_visible_count": 30}, "wrist_left": {"grasp_visibility": 0.8452380952380952, "grasp_projected_count": 84, "grasp_visible_count": 71, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.7098976109215017, "tray_projected_count": 293, "tray_visible_count": 208}, "over_shoulder_right": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.6722972972972973, "tray_projected_count": 296, "tray_visible_count": 199}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.14750337600708, "final_height": 1.14750337600708, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 257, "state": {"door_angle": 0.39071571826934814, "tray_height": 1.1680361032485962, "tray_grasped_left": true, "left_arm_pose": [0.3250931203365326, -0.09315268695354462, 1.1665273904800415, 0.13002203404903412, 0.6952887773513794, 0.6952807903289795, 0.12748542428016663], "right_arm_pose": [0.46871650218963623, -0.5104029774665833, 1.0853091478347778, -0.6256936192512512, 0.5017955303192139, 0.5806999206542969, 0.13962994515895844], "left_arm_joint_positions": [-0.415834903717041, 0.23874977231025696, -0.3044683635234833, -2.0138111114501953, 1.4790610074996948, 1.3193063735961914, 0.16508162021636963], "right_arm_joint_positions": [0.4338681697845459, -0.04800271987915039, 0.7256174087524414, -2.394186496734619, -0.9963949918746948, 1.430715560913086, -2.6599130630493164], "pregrasp_goal_pose": [0.3244150171165274, -0.13346128481615635, 1.1608878921627437, 0.15505201538376387, 0.7440281302163624, 0.6354202979993793, 0.13646266472027002], "pregrasp_position_error": 0.04070684005050667, "pregrasp_orientation_error_deg": 9.358419505185907}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5, "tray_projected_count": 296, "tray_visible_count": 148}, "overhead": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.6317567567567568, "tray_projected_count": 296, "tray_visible_count": 187}, "wrist_right": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.25287356321839083, "tray_projected_count": 87, "tray_visible_count": 22}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 86, "tray_visibility": 0.678030303030303, "tray_projected_count": 264, "tray_visible_count": 179}, "over_shoulder_right": {"grasp_visibility": 0.7444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 67, "tray_visibility": 0.6832740213523132, "tray_projected_count": 281, "tray_visible_count": 192}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.1680361032485962, "final_height": 1.1680361032485962, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 258, "state": {"door_angle": 0.39093291759490967, "tray_height": 1.1885498762130737, "tray_grasped_left": true, "left_arm_pose": [0.32512301206588745, -0.09324929118156433, 1.1873135566711426, 0.12985029816627502, 0.6953599452972412, 0.6952292919158936, 0.12755274772644043], "right_arm_pose": [0.4687396287918091, -0.5103946924209595, 1.0853132009506226, -0.625685453414917, 0.5018066763877869, 0.5807023048400879, 0.1396161913871765], "left_arm_joint_positions": [-0.4147810935974121, 0.21241381764411926, -0.3051733672618866, -2.000302314758301, 1.4818092584609985, 1.3188142776489258, 0.2046893835067749], "right_arm_joint_positions": [0.43387722969055176, -0.04801368713378906, 0.7256283760070801, -2.3941173553466797, -0.9963756799697876, 1.4306907653808594, -2.659919023513794], "pregrasp_goal_pose": [0.3244668122582389, -0.13359799027770852, 1.1819948384349845, 0.15589083808631798, 0.7449114308582809, 0.6344170969004059, 0.13535122436784552], "pregrasp_position_error": 0.040703032818383264, "pregrasp_orientation_error_deg": 9.516179459870049}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.4864864864864865, "tray_projected_count": 296, "tray_visible_count": 144}, "overhead": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.597972972972973, "tray_projected_count": 296, "tray_visible_count": 177}, "wrist_right": {"grasp_visibility": 0.8873239436619719, "grasp_projected_count": 71, "grasp_visible_count": 63, "tray_visibility": 0.2619047619047619, "tray_projected_count": 42, "tray_visible_count": 11}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.6025641025641025, "tray_projected_count": 234, "tray_visible_count": 141}, "over_shoulder_right": {"grasp_visibility": 0.7666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 69, "tray_visibility": 0.6629213483146067, "tray_projected_count": 267, "tray_visible_count": 177}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.1885498762130737, "final_height": 1.1885498762130737, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 259, "state": {"door_angle": 0.39105546474456787, "tray_height": 1.2094110250473022, "tray_grasped_left": true, "left_arm_pose": [0.3251371681690216, -0.09339497238397598, 1.2080841064453125, 0.12975668907165527, 0.6954219937324524, 0.6951836943626404, 0.12755823135375977], "right_arm_pose": [0.468747615814209, -0.5103835463523865, 1.0853068828582764, -0.6256775259971619, 0.501804769039154, 0.5807128548622131, 0.13961468636989594], "left_arm_joint_positions": [-0.413907527923584, 0.18839672207832336, -0.3056163489818573, -1.9842469692230225, 1.4852787256240845, 1.3181641101837158, 0.24493396282196045], "right_arm_joint_positions": [0.4338858127593994, -0.04806971549987793, 0.7256312370300293, -2.394289493560791, -0.9963492155075073, 1.4307217597961426, -2.659867763519287], "pregrasp_goal_pose": [0.32444906927403305, -0.13371971609841782, 1.202703403387468, 0.15562954835825385, 0.7446887432081452, 0.6346925765613645, 0.1355855916931285], "pregrasp_position_error": 0.040687963836021565, "pregrasp_orientation_error_deg": 9.46619989568938}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5033783783783784, "tray_projected_count": 296, "tray_visible_count": 149}, "overhead": {"grasp_visibility": 0.9, "grasp_projected_count": 90, "grasp_visible_count": 81, "tray_visibility": 0.668918918918919, "tray_projected_count": 296, "tray_visible_count": 198}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.15384615384615385, "tray_projected_count": 13, "tray_visible_count": 2}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9, "grasp_projected_count": 90, "grasp_visible_count": 81, "tray_visibility": 0.6210045662100456, "tray_projected_count": 219, "tray_visible_count": 136}, "over_shoulder_right": {"grasp_visibility": 0.7555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 68, "tray_visibility": 0.6456692913385826, "tray_projected_count": 254, "tray_visible_count": 164}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.2094110250473022, "final_height": 1.2094110250473022, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 260, "state": {"door_angle": 0.39077770709991455, "tray_height": 1.230084776878357, "tray_grasped_left": true, "left_arm_pose": [0.32515421509742737, -0.09352965652942657, 1.2288269996643066, 0.12967579066753387, 0.6954713463783264, 0.6951404809951782, 0.12760718166828156], "right_arm_pose": [0.468744695186615, -0.5103997588157654, 1.0852999687194824, -0.6256982088088989, 0.5017898678779602, 0.5807007551193237, 0.13962583243846893], "left_arm_joint_positions": [-0.4132511615753174, 0.1668281853199005, -0.3058485686779022, -1.9654192924499512, 1.489540934562683, 1.3173654079437256, 0.2855609655380249], "right_arm_joint_positions": [0.4338867664337158, -0.048067569732666016, 0.7256486415863037, -2.3942675590515137, -0.9963616132736206, 1.4307012557983398, -2.659907817840576], "pregrasp_goal_pose": [0.324482252629971, -0.13388410148462263, 1.223425413694349, 0.1556100530471101, 0.744834637846804, 0.6345327486089076, 0.13555465538712033], "pregrasp_position_error": 0.040719895532656536, "pregrasp_orientation_error_deg": 9.483923596315487}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5337837837837838, "tray_projected_count": 296, "tray_visible_count": 158}, "overhead": {"grasp_visibility": 0.9444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 85, "tray_visibility": 0.6756756756756757, "tray_projected_count": 296, "tray_visible_count": 200}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 86, "tray_visibility": 0.6859903381642513, "tray_projected_count": 207, "tray_visible_count": 142}, "over_shoulder_right": {"grasp_visibility": 0.7444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 67, "tray_visibility": 0.7043478260869566, "tray_projected_count": 230, "tray_visible_count": 162}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.230084776878357, "final_height": 1.230084776878357, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 261, "state": {"door_angle": 0.3908349275588989, "tray_height": 1.250771164894104, "tray_grasped_left": true, "left_arm_pose": [0.3251245617866516, -0.0936097800731659, 1.2494221925735474, 0.12956061959266663, 0.6955491900444031, 0.6950764060020447, 0.12764909863471985], "right_arm_pose": [0.4687150716781616, -0.5103974938392639, 1.0853222608566284, -0.6256906986236572, 0.5018100142478943, 0.5806930661201477, 0.13961893320083618], "left_arm_joint_positions": [-0.41277360916137695, 0.1476452648639679, -0.3058910071849823, -1.9439990520477295, 1.4943925142288208, 1.3163681030273438, 0.32620108127593994], "right_arm_joint_positions": [0.43388843536376953, -0.04793143272399902, 0.7256474494934082, -2.394120216369629, -0.9963661432266235, 1.430732011795044, -2.6599225997924805], "pregrasp_goal_pose": [0.32447247664507095, -0.13394668671104065, 1.2439932898824821, 0.15523674595753376, 0.7448374408307357, 0.6345407331144798, 0.1359293840925324], "pregrasp_position_error": 0.04070582558521016, "pregrasp_orientation_error_deg": 9.467237417802613}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5304054054054054, "tray_projected_count": 296, "tray_visible_count": 157}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.793918918918919, "tray_projected_count": 296, "tray_visible_count": 235}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 86, "tray_visibility": 0.7539267015706806, "tray_projected_count": 191, "tray_visible_count": 144}, "over_shoulder_right": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.6372093023255814, "tray_projected_count": 215, "tray_visible_count": 137}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.250771164894104, "final_height": 1.250771164894104, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 262, "state": {"door_angle": 0.3911851644515991, "tray_height": 1.271166205406189, "tray_grasped_left": true, "left_arm_pose": [0.32511094212532043, -0.09376625716686249, 1.2696613073349, 0.12950028479099274, 0.6955699920654297, 0.6950547695159912, 0.12771430611610413], "right_arm_pose": [0.46874162554740906, -0.5103861093521118, 1.085305094718933, -0.6256800293922424, 0.5018112659454346, 0.5807061195373535, 0.1396082043647766], "left_arm_joint_positions": [-0.4125068187713623, 0.13135269284248352, -0.3058311641216278, -1.9203691482543945, 1.5000132322311401, 1.3152592182159424, 0.36660969257354736], "right_arm_joint_positions": [0.4338822364807129, -0.04792499542236328, 0.7256393432617188, -2.394165515899658, -0.9963966608047485, 1.430704116821289, -2.6598823070526123], "pregrasp_goal_pose": [0.3244729150616595, -0.13410515056187006, 1.2643121244499518, 0.1550892388605252, 0.7447609791577714, 0.6346283775447404, 0.1361074367128814], "pregrasp_position_error": 0.04069701655409609, "pregrasp_orientation_error_deg": 9.449596757216254}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.581081081081081, "tray_projected_count": 296, "tray_visible_count": 172}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.706081081081081, "tray_projected_count": 296, "tray_visible_count": 209}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9777777777777777, "grasp_projected_count": 90, "grasp_visible_count": 88, "tray_visibility": 0.6153846153846154, "tray_projected_count": 182, "tray_visible_count": 112}, "over_shoulder_right": {"grasp_visibility": 0.7, "grasp_projected_count": 90, "grasp_visible_count": 63, "tray_visibility": 0.6787564766839378, "tray_projected_count": 193, "tray_visible_count": 131}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.271166205406189, "final_height": 1.271166205406189, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 263, "state": {"door_angle": 0.39092957973480225, "tray_height": 1.2907108068466187, "tray_grasped_left": true, "left_arm_pose": [0.32504841685295105, -0.09383965283632278, 1.289595603942871, 0.12937511503696442, 0.6956382393836975, 0.6949980854988098, 0.12777796387672424], "right_arm_pose": [0.46873384714126587, -0.5103937387466431, 1.0853257179260254, -0.6256806254386902, 0.501808762550354, 0.580707311630249, 0.13960957527160645], "left_arm_joint_positions": [-0.41237449645996094, 0.1175251305103302, -0.3056928813457489, -1.8944807052612305, 1.5062209367752075, 1.3139407634735107, 0.4066213369369507], "right_arm_joint_positions": [0.43387770652770996, -0.04800701141357422, 0.7256155014038086, -2.3941397666931152, -0.9963868856430054, 1.4307198524475098, -2.6599183082580566], "pregrasp_goal_pose": [0.3243707107782253, -0.13418849579119602, 1.2845205063571803, 0.15600891674950482, 0.7457918255857684, 0.6334394974014288, 0.1349450774052841], "pregrasp_position_error": 0.04067241115086525, "pregrasp_orientation_error_deg": 9.63505351653136}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5844594594594594, "tray_projected_count": 296, "tray_visible_count": 173}, "overhead": {"grasp_visibility": 0.8444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 76, "tray_visibility": 0.6993243243243243, "tray_projected_count": 296, "tray_visible_count": 207}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8690476190476191, "grasp_projected_count": 84, "grasp_visible_count": 73, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.8888888888888888, "grasp_projected_count": 90, "grasp_visible_count": 80, "tray_visibility": 0.5766871165644172, "tray_projected_count": 163, "tray_visible_count": 94}, "over_shoulder_right": {"grasp_visibility": 0.6777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 61, "tray_visibility": 0.6594594594594595, "tray_projected_count": 185, "tray_visible_count": 122}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.2907108068466187, "final_height": 1.2907108068466187, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 264, "state": {"door_angle": 0.3911536931991577, "tray_height": 1.3101396560668945, "tray_grasped_left": true, "left_arm_pose": [0.32505089044570923, -0.09399116039276123, 1.3085459470748901, 0.1293792426586151, 0.6956003308296204, 0.6950272917747498, 0.12782150506973267], "right_arm_pose": [0.46873044967651367, -0.5103868246078491, 1.085299015045166, -0.6256880164146423, 0.5017976760864258, 0.5807039141654968, 0.13963083922863007], "left_arm_joint_positions": [-0.41245102882385254, 0.10681989789009094, -0.3055665194988251, -1.8674635887145996, 1.5130177736282349, 1.3125114440917969, 0.44514238834381104], "right_arm_joint_positions": [0.43387532234191895, -0.04790186882019043, 0.7256166934967041, -2.394136905670166, -0.9963744878768921, 1.430706262588501, -2.6599185466766357], "pregrasp_goal_pose": [0.3244219665397944, -0.13430862256043366, 1.3032103155065704, 0.15484183009636027, 0.7447609362036423, 0.6346416024834929, 0.1363275172321003], "pregrasp_position_error": 0.04067385235202069, "pregrasp_orientation_error_deg": 9.440933162561933}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.9666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 87, "tray_visibility": 0.7668918918918919, "tray_projected_count": 296, "tray_visible_count": 227}, "overhead": {"grasp_visibility": 0.8222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 74, "tray_visibility": 0.6824324324324325, "tray_projected_count": 296, "tray_visible_count": 202}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.8888888888888888, "grasp_projected_count": 90, "grasp_visible_count": 80, "tray_visibility": 0.554140127388535, "tray_projected_count": 157, "tray_visible_count": 87}, "over_shoulder_right": {"grasp_visibility": 0.6777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 61, "tray_visibility": 0.6402439024390244, "tray_projected_count": 164, "tray_visible_count": 105}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3101396560668945, "final_height": 1.3101396560668945, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 265, "state": {"door_angle": 0.39109599590301514, "tray_height": 1.3262665271759033, "tray_grasped_left": true, "left_arm_pose": [0.32492685317993164, -0.09402593970298767, 1.3250259160995483, 0.12929391860961914, 0.6954959630966187, 0.6951184868812561, 0.12797969579696655], "right_arm_pose": [0.4687454104423523, -0.5103987455368042, 1.0853255987167358, -0.6256850957870483, 0.5018051862716675, 0.5807077884674072, 0.13960064947605133], "left_arm_joint_positions": [-0.41263723373413086, 0.0989101231098175, -0.3054327666759491, -1.8426275253295898, 1.5195966958999634, 1.3111732006072998, 0.47832930088043213], "right_arm_joint_positions": [0.4338819980621338, -0.047980308532714844, 0.7256288528442383, -2.394125461578369, -0.9963849782943726, 1.4307231903076172, -2.659904718399048], "pregrasp_goal_pose": [0.32428983693515323, -0.13438873767225623, 1.3195812263939115, 0.15538123322997344, 0.7449683177741935, 0.6343884502785186, 0.13575776967024936], "pregrasp_position_error": 0.0407333511461403, "pregrasp_orientation_error_deg": 9.50532788020163}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.9444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 85, "tray_visibility": 0.5878378378378378, "tray_projected_count": 296, "tray_visible_count": 174}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.6621621621621622, "tray_projected_count": 296, "tray_visible_count": 196}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8452380952380952, "grasp_projected_count": 84, "grasp_visible_count": 71, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6496350364963503, "tray_projected_count": 137, "tray_visible_count": 89}, "over_shoulder_right": {"grasp_visibility": 0.7333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 66, "tray_visibility": 0.6392405063291139, "tray_projected_count": 158, "tray_visible_count": 101}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3262665271759033, "final_height": 1.3262665271759033, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 266, "state": {"door_angle": 0.39094626903533936, "tray_height": 1.3391793966293335, "tray_grasped_left": true, "left_arm_pose": [0.32480189204216003, -0.09405517578125, 1.3378541469573975, 0.12924514710903168, 0.6953713893890381, 0.69523686170578, 0.1280628889799118], "right_arm_pose": [0.4687400460243225, -0.5103972554206848, 1.0853105783462524, -0.6256899833679199, 0.5017924308776855, 0.5807116627693176, 0.13960792124271393], "left_arm_joint_positions": [-0.4128718376159668, 0.09385517239570618, -0.3053421676158905, -1.8223066329956055, 1.5251730680465698, 1.3100335597991943, 0.5042816400527954], "right_arm_joint_positions": [0.43389225006103516, -0.04798388481140137, 0.7256371974945068, -2.3941922187805176, -0.9963887929916382, 1.4307310581207275, -2.6599040031433105], "pregrasp_goal_pose": [0.3241404789386485, -0.1343820952490708, 1.3325976069496102, 0.15572069404354325, 0.7449828036887038, 0.6343455384849505, 0.13548957693842548], "pregrasp_position_error": 0.04067344482473877, "pregrasp_orientation_error_deg": 9.538779143829789}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.9444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 85, "tray_visibility": 0.5945945945945946, "tray_projected_count": 296, "tray_visible_count": 176}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.652027027027027, "tray_projected_count": 296, "tray_visible_count": 193}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8690476190476191, "grasp_projected_count": 84, "grasp_visible_count": 73, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.8888888888888888, "grasp_projected_count": 90, "grasp_visible_count": 80, "tray_visibility": 0.6240601503759399, "tray_projected_count": 133, "tray_visible_count": 83}, "over_shoulder_right": {"grasp_visibility": 0.7333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 66, "tray_visibility": 0.5755395683453237, "tray_projected_count": 139, "tray_visible_count": 80}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3391793966293335, "final_height": 1.3391793966293335, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 267, "state": {"door_angle": 0.39117205142974854, "tray_height": 1.3480706214904785, "tray_grasped_left": true, "left_arm_pose": [0.32478010654449463, -0.09406247735023499, 1.346794843673706, 0.12928473949432373, 0.6952576041221619, 0.6953416466712952, 0.12807178497314453], "right_arm_pose": [0.46873220801353455, -0.5103952884674072, 1.085303783416748, -0.6256874203681946, 0.5018022060394287, 0.5807035565376282, 0.13961820304393768], "left_arm_joint_positions": [-0.4130885601043701, 0.09107068181037903, -0.30530139803886414, -1.8073945045471191, 1.5293391942977905, 1.309213399887085, 0.5225640535354614], "right_arm_joint_positions": [0.43387627601623535, -0.047965288162231445, 0.7256336212158203, -2.3941454887390137, -0.9964045286178589, 1.4307003021240234, -2.659902334213257], "pregrasp_goal_pose": [0.3241040296520706, -0.1344012760049141, 1.3413563627214773, 0.15537104971696353, 0.744968322649772, 0.6343481808098391, 0.13595742223755833], "pregrasp_position_error": 0.04070937032103257, "pregrasp_orientation_error_deg": 9.54489734581168}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.9666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 87, "tray_visibility": 0.6182432432432432, "tray_projected_count": 296, "tray_visible_count": 183}, "overhead": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.7094594594594594, "tray_projected_count": 296, "tray_visible_count": 210}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8452380952380952, "grasp_projected_count": 84, "grasp_visible_count": 71, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9777777777777777, "grasp_projected_count": 90, "grasp_visible_count": 88, "tray_visibility": 0.6076923076923076, "tray_projected_count": 130, "tray_visible_count": 79}, "over_shoulder_right": {"grasp_visibility": 0.6888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 62, "tray_visibility": 0.6, "tray_projected_count": 135, "tray_visible_count": 81}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3480706214904785, "final_height": 1.3480706214904785, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 268, "state": {"door_angle": 0.39103424549102783, "tray_height": 1.3531432151794434, "tray_grasped_left": true, "left_arm_pose": [0.32473528385162354, -0.09406726062297821, 1.352128267288208, 0.12927691638469696, 0.6952375173568726, 0.6953621506690979, 0.12807761132717133], "right_arm_pose": [0.4687463641166687, -0.5103911757469177, 1.0853066444396973, -0.6256886124610901, 0.5017983913421631, 0.580704391002655, 0.13962312042713165], "left_arm_joint_positions": [-0.41322946548461914, 0.08950474858283997, -0.30530378222465515, -1.798365831375122, 1.531746745109558, 1.3087410926818848, 0.5332902669906616], "right_arm_joint_positions": [0.43389272689819336, -0.048110008239746094, 0.7256290912628174, -2.394108295440674, -0.9963697195053101, 1.4306902885437012, -2.659944772720337], "pregrasp_goal_pose": [0.32406405167760227, -0.13441785316999083, 1.3467615505258823, 0.15591918206512662, 0.7453840799647284, 0.6338762594591024, 0.13525039627821395], "pregrasp_position_error": 0.04071145441191581, "pregrasp_orientation_error_deg": 9.628831251516639}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.9555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 86, "tray_visibility": 0.6114864864864865, "tray_projected_count": 296, "tray_visible_count": 181}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.6114864864864865, "tray_projected_count": 296, "tray_visible_count": 181}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5736434108527132, "tray_projected_count": 129, "tray_visible_count": 74}, "over_shoulder_right": {"grasp_visibility": 0.7333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 66, "tray_visibility": 0.556390977443609, "tray_projected_count": 133, "tray_visible_count": 74}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3531432151794434, "final_height": 1.3531432151794434, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 269, "state": {"door_angle": 0.39069879055023193, "tray_height": 1.3527675867080688, "tray_grasped_left": true, "left_arm_pose": [0.32479357719421387, -0.09410608559846878, 1.351971983909607, 0.1295638233423233, 0.6952027082443237, 0.6953964233398438, 0.12779030203819275], "right_arm_pose": [0.4687742292881012, -0.510338306427002, 1.0851285457611084, -0.625785231590271, 0.501679539680481, 0.5806548595428467, 0.13982322812080383], "left_arm_joint_positions": [-0.4132363796234131, 0.08986762166023254, -0.3052653968334198, -1.7985422611236572, 1.5316461324691772, 1.3087453842163086, 0.5332990884780884], "right_arm_joint_positions": [0.43389344215393066, -0.04770660400390625, 0.7256498336791992, -2.394270896911621, -0.9963699579238892, 1.4307117462158203, -2.6599440574645996], "pregrasp_goal_pose": [0.32412244719771116, -0.1343998849022081, 1.3463051298529891, 0.15581660102732, 0.7452507925691702, 0.6340293317017663, 0.1353855589090959], "pregrasp_position_error": 0.04069587095395841, "pregrasp_orientation_error_deg": 9.60229008599554}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.5945945945945946, "tray_projected_count": 296, "tray_visible_count": 176}, "overhead": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.6114864864864865, "tray_projected_count": 296, "tray_visible_count": 181}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5736434108527132, "tray_projected_count": 129, "tray_visible_count": 74}, "over_shoulder_right": {"grasp_visibility": 0.7111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 64, "tray_visibility": 0.5597014925373134, "tray_projected_count": 134, "tray_visible_count": 75}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3527675867080688, "final_height": 1.3527675867080688, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 270, "state": {"door_angle": 0.3910015821456909, "tray_height": 1.3538670539855957, "tray_grasped_left": true, "left_arm_pose": [0.32486191391944885, -0.09412720799446106, 1.35282301902771, 0.12975071370601654, 0.6951807737350464, 0.695414125919342, 0.12762312591075897], "right_arm_pose": [0.4687580466270447, -0.5103559494018555, 1.0852030515670776, -0.6257327795028687, 0.5017408132553101, 0.5806825757026672, 0.13972267508506775], "left_arm_joint_positions": [-0.4132692813873291, 0.0899684727191925, -0.3052961528301239, -1.7966325283050537, 1.5321441888809204, 1.3086774349212646, 0.5358144044876099], "right_arm_joint_positions": [0.4338994026184082, -0.04781484603881836, 0.7256205081939697, -2.3942646980285645, -0.9963678121566772, 1.4307000637054443, -2.6599082946777344], "pregrasp_goal_pose": [0.32415830062417295, -0.13444714370171884, 1.3471867358944178, 0.155644523659171, 0.7447701953295596, 0.6345900983077358, 0.13560068411869425], "pregrasp_position_error": 0.04071805465227094, "pregrasp_orientation_error_deg": 9.516459313316993}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.8222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 74, "tray_visibility": 0.5371621621621622, "tray_projected_count": 296, "tray_visible_count": 159}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.6418918918918919, "tray_projected_count": 296, "tray_visible_count": 190}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 87, "tray_visibility": 0.5703125, "tray_projected_count": 128, "tray_visible_count": 73}, "over_shoulder_right": {"grasp_visibility": 0.6, "grasp_projected_count": 90, "grasp_visible_count": 54, "tray_visibility": 0.5639097744360902, "tray_projected_count": 133, "tray_visible_count": 75}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3538670539855957, "final_height": 1.3538670539855957, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 271, "state": {"door_angle": 0.3911350965499878, "tray_height": 1.3541514873504639, "tray_grasped_left": true, "left_arm_pose": [0.32486557960510254, -0.09412544965744019, 1.3531908988952637, 0.12977135181427002, 0.6951536536216736, 0.6954494118690491, 0.1275579184293747], "right_arm_pose": [0.4687749743461609, -0.510327160358429, 1.0850814580917358, -0.625798761844635, 0.5016793012619019, 0.5806323289871216, 0.13985653221607208], "left_arm_joint_positions": [-0.41327548027038574, 0.0897839367389679, -0.30530044436454773, -1.7962524890899658, 1.5323413610458374, 1.3085947036743164, 0.5366288423538208], "right_arm_joint_positions": [0.43389391899108887, -0.047565460205078125, 0.7256267070770264, -2.3943896293640137, -0.9963024854660034, 1.4307334423065186, -2.6599488258361816], "pregrasp_goal_pose": [0.32418996806350275, -0.13443696221191775, 1.347931413942171, 0.15649831247352464, 0.7452666718544256, 0.6340178997810754, 0.13456288036884909], "pregrasp_position_error": 0.04065878352037545, "pregrasp_orientation_error_deg": 9.623432185207438}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.5506756756756757, "tray_projected_count": 296, "tray_visible_count": 163}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.6452702702702703, "tray_projected_count": 296, "tray_visible_count": 191}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 87, "tray_visibility": 0.5905511811023622, "tray_projected_count": 127, "tray_visible_count": 75}, "over_shoulder_right": {"grasp_visibility": 0.6333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 57, "tray_visibility": 0.5864661654135338, "tray_projected_count": 133, "tray_visible_count": 78}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3541514873504639, "final_height": 1.3541514873504639, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 272, "state": {"door_angle": 0.3910785913467407, "tray_height": 1.354146957397461, "tray_grasped_left": true, "left_arm_pose": [0.3252381384372711, -0.09314396977424622, 1.3533724546432495, 0.12977491319179535, 0.695164144039154, 0.6954377889633179, 0.12756036221981049], "right_arm_pose": [0.46876126527786255, -0.510347843170166, 1.0852138996124268, -0.6256868243217468, 0.5018200874328613, 0.5806828141212463, 0.13964250683784485], "left_arm_joint_positions": [-0.41194939613342285, 0.08879759907722473, -0.3041999042034149, -1.7970383167266846, 1.5325900316238403, 1.3109948635101318, 0.5369187593460083], "right_arm_joint_positions": [0.4338841438293457, -0.04787778854370117, 0.7255971431732178, -2.394352912902832, -0.9963477849960327, 1.430804967880249, -2.6597301959991455], "pregrasp_goal_pose": [0.32457856491627535, -0.13348487040312246, 1.3476343615653912, 0.15597409580900848, 0.7449102347011234, 0.6344412526857676, 0.1351485129943862], "pregrasp_position_error": 0.040752288438180156, "pregrasp_orientation_error_deg": 9.548471430555729}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.5878378378378378, "tray_projected_count": 296, "tray_visible_count": 174}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.6486486486486487, "tray_projected_count": 296, "tray_visible_count": 192}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.47244094488188976, "tray_projected_count": 127, "tray_visible_count": 60}, "over_shoulder_right": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.5939849624060151, "tray_projected_count": 133, "tray_visible_count": 79}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.354146957397461, "final_height": 1.354146957397461, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 273, "state": {"door_angle": 0.3910461664199829, "tray_height": 1.3542770147323608, "tray_grasped_left": true, "left_arm_pose": [0.3265206813812256, -0.0897732600569725, 1.3534975051879883, 0.12976273894309998, 0.6951748728752136, 0.6954245567321777, 0.12758620083332062], "right_arm_pose": [0.46873027086257935, -0.5103908181190491, 1.0852978229522705, -0.6256489753723145, 0.501879096031189, 0.580699622631073, 0.1395304799079895], "left_arm_joint_positions": [-0.4074885845184326, 0.08572700619697571, -0.3007065951824188, -1.8003692626953125, 1.5332785844802856, 1.3189599514007568, 0.5368126630783081], "right_arm_joint_positions": [0.4338867664337158, -0.04796957969665527, 0.7255945205688477, -2.394254207611084, -0.9963730573654175, 1.4308416843414307, -2.6596500873565674], "pregrasp_goal_pose": [0.3258520735402367, -0.13014333729759348, 1.3479218961849992, 0.15617297584180703, 0.7451769473945897, 0.6341319066924416, 0.13490012454777037], "pregrasp_position_error": 0.040758773149016, "pregrasp_orientation_error_deg": 9.5956914084493}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.9, "grasp_projected_count": 90, "grasp_visible_count": 81, "tray_visibility": 0.5945945945945946, "tray_projected_count": 296, "tray_visible_count": 176}, "overhead": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 90, "grasp_visible_count": 75, "tray_visibility": 0.6790540540540541, "tray_projected_count": 296, "tray_visible_count": 201}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.8555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 77, "tray_visibility": 0.5158730158730159, "tray_projected_count": 126, "tray_visible_count": 65}, "over_shoulder_right": {"grasp_visibility": 0.6777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 61, "tray_visibility": 0.631578947368421, "tray_projected_count": 133, "tray_visible_count": 84}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3542770147323608, "final_height": 1.3542770147323608, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 274, "state": {"door_angle": 0.39103686809539795, "tray_height": 1.3545368909835815, "tray_grasped_left": true, "left_arm_pose": [0.32899656891822815, -0.08336883783340454, 1.353562355041504, 0.1297105997800827, 0.6951946020126343, 0.6954226493835449, 0.12754233181476593], "right_arm_pose": [0.4687348008155823, -0.510373592376709, 1.085269808769226, -0.6256533265113831, 0.5018748044967651, 0.5806958079338074, 0.1395423412322998], "left_arm_joint_positions": [-0.3991868495941162, 0.0803387463092804, -0.29393860697746277, -1.8064208030700684, 1.5347403287887573, 1.3338563442230225, 0.5365458726882935], "right_arm_joint_positions": [0.4338846206665039, -0.047894954681396484, 0.7256009578704834, -2.39432954788208, -0.9963482618331909, 1.4308686256408691, -2.6596555709838867], "pregrasp_goal_pose": [0.3283583975927478, -0.12369452218591885, 1.3482491704589632, 0.1562379602830706, 0.7453068786102314, 0.6339834796363805, 0.1348046883865932], "pregrasp_position_error": 0.04067920859047569, "pregrasp_orientation_error_deg": 9.619271098718437}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.9666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 87, "tray_visibility": 0.6114864864864865, "tray_projected_count": 296, "tray_visible_count": 181}, "overhead": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.6993243243243243, "tray_projected_count": 296, "tray_visible_count": 207}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 82, "tray_visibility": 0.5371900826446281, "tray_projected_count": 121, "tray_visible_count": 65}, "over_shoulder_right": {"grasp_visibility": 0.6666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 60, "tray_visibility": 0.5954198473282443, "tray_projected_count": 131, "tray_visible_count": 78}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3545368909835815, "final_height": 1.3545368909835815, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 275, "state": {"door_angle": 0.3907841444015503, "tray_height": 1.354506254196167, "tray_grasped_left": true, "left_arm_pose": [0.3327825665473938, -0.0736750066280365, 1.353647232055664, 0.12967883050441742, 0.6952200531959534, 0.6954067349433899, 0.12752258777618408], "right_arm_pose": [0.4687325060367584, -0.5103830099105835, 1.0853270292282104, -0.6256242990493774, 0.501907229423523, 0.5807148814201355, 0.1394762396812439], "left_arm_joint_positions": [-0.3869481086730957, 0.07307055592536926, -0.2837948501110077, -1.8151030540466309, 1.537298560142517, 1.356215238571167, 0.5361636877059937], "right_arm_joint_positions": [0.4338870048522949, -0.04816722869873047, 0.7256059646606445, -2.3942251205444336, -0.9963606595993042, 1.43084716796875, -2.6595988273620605], "pregrasp_goal_pose": [0.332133051867858, -0.1140155454584624, 1.348254920774994, 0.15636410030537387, 0.7452561536055017, 0.6340585316308498, 0.13458570546292958], "pregrasp_position_error": 0.04070452018382815, "pregrasp_orientation_error_deg": 9.610212597124203}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.9666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 87, "tray_visibility": 0.5777027027027027, "tray_projected_count": 296, "tray_visible_count": 171}, "overhead": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.6283783783783784, "tray_projected_count": 296, "tray_visible_count": 186}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 86, "tray_visibility": 0.646551724137931, "tray_projected_count": 116, "tray_visible_count": 75}, "over_shoulder_right": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.5736434108527132, "tray_projected_count": 129, "tray_visible_count": 74}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.354506254196167, "final_height": 1.354506254196167, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 276, "state": {"door_angle": 0.390849232673645, "tray_height": 1.354549527168274, "tray_grasped_left": true, "left_arm_pose": [0.3378288447856903, -0.06063418090343475, 1.3538023233413696, 0.12970596551895142, 0.6952553391456604, 0.6953473687171936, 0.12762542068958282], "right_arm_pose": [0.46872478723526, -0.5103838443756104, 1.085303544998169, -0.6256342530250549, 0.5018883347511292, 0.5807124376296997, 0.13950924575328827], "left_arm_joint_positions": [-0.37090182304382324, 0.06385043263435364, -0.26962849497795105, -1.8251621723175049, 1.5412484407424927, 1.3864762783050537, 0.5357862710952759], "right_arm_joint_positions": [0.4338831901550293, -0.04810357093811035, 0.7256169319152832, -2.3943324089050293, -0.9963821172714233, 1.4308631420135498, -2.659621477127075], "pregrasp_goal_pose": [0.3371578773745331, -0.1009445320022317, 1.3481204071603043, 0.15602498734829623, 0.7451204064042573, 0.634190422619725, 0.13510844215049245], "pregrasp_position_error": 0.04071435587681287, "pregrasp_orientation_error_deg": 9.573329250997636}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.5709459459459459, "tray_projected_count": 296, "tray_visible_count": 169}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.625, "tray_projected_count": 296, "tray_visible_count": 185}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.6396396396396397, "tray_projected_count": 111, "tray_visible_count": 71}, "over_shoulder_right": {"grasp_visibility": 0.6, "grasp_projected_count": 90, "grasp_visible_count": 54, "tray_visibility": 0.5752212389380531, "tray_projected_count": 113, "tray_visible_count": 65}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.354549527168274, "final_height": 1.354549527168274, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 277, "state": {"door_angle": 0.3909226655960083, "tray_height": 1.3548465967178345, "tray_grasped_left": true, "left_arm_pose": [0.34391507506370544, -0.044964149594306946, 1.3539831638336182, 0.1296505630016327, 0.6952894330024719, 0.6953140497207642, 0.12767834961414337], "right_arm_pose": [0.4687422513961792, -0.5103806257247925, 1.0852817296981812, -0.6256429553031921, 0.5018796324729919, 0.580711305141449, 0.13950690627098083], "left_arm_joint_positions": [-0.3517117500305176, 0.05498674511909485, -0.25261589884757996, -1.8351311683654785, 1.5468491315841675, 1.4221346378326416, 0.5354987382888794], "right_arm_joint_positions": [0.4338815212249756, -0.04803013801574707, 0.7256100177764893, -2.3943681716918945, -0.9963651895523071, 1.4308650493621826, -2.6595816612243652], "pregrasp_goal_pose": [0.34324404270236886, -0.08527280518782673, 1.3485244462981092, 0.15618515020986246, 0.7452832362254512, 0.6339976911535591, 0.13492970120472708], "pregrasp_position_error": 0.04068212872158275, "pregrasp_orientation_error_deg": 9.601000267533541}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.9444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 85, "tray_visibility": 0.6047297297297297, "tray_projected_count": 296, "tray_visible_count": 179}, "overhead": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.6756756756756757, "tray_projected_count": 296, "tray_visible_count": 200}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8452380952380952, "grasp_projected_count": 84, "grasp_visible_count": 71, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.5495495495495496, "tray_projected_count": 111, "tray_visible_count": 61}, "over_shoulder_right": {"grasp_visibility": 0.6111111111111112, "grasp_projected_count": 90, "grasp_visible_count": 55, "tray_visibility": 0.5137614678899083, "tray_projected_count": 109, "tray_visible_count": 56}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3548465967178345, "final_height": 1.3548465967178345, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 278, "state": {"door_angle": 0.3912695646286011, "tray_height": 1.3552063703536987, "tray_grasped_left": true, "left_arm_pose": [0.3504377007484436, -0.027878664433956146, 1.3542077541351318, 0.1294868439435959, 0.6953443884849548, 0.6952901482582092, 0.12767581641674042], "right_arm_pose": [0.4687311351299286, -0.5103838443756104, 1.085310459136963, -0.625629186630249, 0.5019012093544006, 0.5807119011878967, 0.13948887586593628], "left_arm_joint_positions": [-0.3314511775970459, 0.04746010899543762, -0.23427388072013855, -1.8432793617248535, 1.5536679029464722, 1.4600005149841309, 0.5353380441665649], "right_arm_joint_positions": [0.43387484550476074, -0.04824113845825195, 0.7255918979644775, -2.3942036628723145, -0.9963687658309937, 1.4308936595916748, -2.6596181392669678], "pregrasp_goal_pose": [0.3497895704127876, -0.06822241080966657, 1.3486922512830786, 0.1557045662720408, 0.7451271075307401, 0.6342169208671476, 0.13531658786232614], "pregrasp_position_error": 0.04072417852174127, "pregrasp_orientation_error_deg": 9.558640721546737}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.9, "grasp_projected_count": 90, "grasp_visible_count": 81, "tray_visibility": 0.6452702702702703, "tray_projected_count": 296, "tray_visible_count": 191}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.7162162162162162, "tray_projected_count": 296, "tray_visible_count": 212}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.6146788990825688, "tray_projected_count": 109, "tray_visible_count": 67}, "over_shoulder_right": {"grasp_visibility": 0.6333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 57, "tray_visibility": 0.47619047619047616, "tray_projected_count": 105, "tray_visible_count": 50}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3552063703536987, "final_height": 1.3552063703536987, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 279, "state": {"door_angle": 0.3909655809402466, "tray_height": 1.3552225828170776, "tray_grasped_left": true, "left_arm_pose": [0.35723456740379333, -0.010250724852085114, 1.354365587234497, 0.12940384447574615, 0.6953524351119995, 0.6953007578849792, 0.1276579052209854], "right_arm_pose": [0.4687447249889374, -0.5103705525398254, 1.0852957963943481, -0.6256244778633118, 0.5019018650054932, 0.5807128548622131, 0.13950271904468536], "left_arm_joint_positions": [-0.3104715347290039, 0.04223039746284485, -0.2151918113231659, -1.8492820262908936, 1.5615812540054321, 1.498915433883667, 0.5353285074234009], "right_arm_joint_positions": [0.433880090713501, -0.04812455177307129, 0.7255985736846924, -2.3942809104919434, -0.9963434934616089, 1.4308459758758545, -2.6596150398254395], "pregrasp_goal_pose": [0.35660369210226806, -0.0506034681860279, 1.3485952035137025, 0.1555059262965639, 0.7449154281203408, 0.6345023456145872, 0.1353723946915469], "pregrasp_position_error": 0.0407681153170753, "pregrasp_orientation_error_deg": 9.517126005332733}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.9, "grasp_projected_count": 90, "grasp_visible_count": 81, "tray_visibility": 0.6858108108108109, "tray_projected_count": 296, "tray_visible_count": 203}, "overhead": {"grasp_visibility": 0.8555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 77, "tray_visibility": 0.6959459459459459, "tray_projected_count": 296, "tray_visible_count": 206}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.5277777777777778, "tray_projected_count": 108, "tray_visible_count": 57}, "over_shoulder_right": {"grasp_visibility": 0.5555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 50, "tray_visibility": 0.5247524752475248, "tray_projected_count": 101, "tray_visible_count": 53}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3552225828170776, "final_height": 1.3552225828170776, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 280, "state": {"door_angle": 0.3910900354385376, "tray_height": 1.3552933931350708, "tray_grasped_left": true, "left_arm_pose": [0.3641294538974762, 0.007624171674251556, 1.3544845581054688, 0.12943153083324432, 0.6954063773155212, 0.6952382326126099, 0.1276763379573822], "right_arm_pose": [0.4687308669090271, -0.5103870630264282, 1.0853209495544434, -0.6256329417228699, 0.5019058585166931, 0.5807024836540222, 0.13949398696422577], "left_arm_joint_positions": [-0.28967928886413574, 0.039423972368240356, -0.19604036211967468, -1.8521966934204102, 1.5702403783798218, 1.5383715629577637, 0.5355161428451538], "right_arm_joint_positions": [0.4338860511779785, -0.04807472229003906, 0.7255973815917969, -2.3941850662231445, -0.9963523149490356, 1.4308488368988037, -2.659625291824341], "pregrasp_goal_pose": [0.3634675849340371, -0.03266583430342583, 1.3489105910787158, 0.15588238834772966, 0.7453150423675206, 0.6340107506039538, 0.13504272191539812], "pregrasp_position_error": 0.040679131758450456, "pregrasp_orientation_error_deg": 9.585822303257135}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.9444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 85, "tray_visibility": 0.6216216216216216, "tray_projected_count": 296, "tray_visible_count": 184}, "overhead": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.722972972972973, "tray_projected_count": 296, "tray_visible_count": 214}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.5700934579439252, "tray_projected_count": 107, "tray_visible_count": 61}, "over_shoulder_right": {"grasp_visibility": 0.4888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 44, "tray_visibility": 0.5301204819277109, "tray_projected_count": 83, "tray_visible_count": 44}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3552933931350708, "final_height": 1.3552933931350708, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 281, "state": {"door_angle": 0.39070069789886475, "tray_height": 1.3557010889053345, "tray_grasped_left": true, "left_arm_pose": [0.3705025315284729, 0.02447686344385147, 1.3548206090927124, 0.12927232682704926, 0.695429801940918, 0.6952272653579712, 0.12777023017406464], "right_arm_pose": [0.4687437415122986, -0.5103552937507629, 1.0852984189987183, -0.6256189942359924, 0.5018846988677979, 0.5807321071624756, 0.13950921595096588], "left_arm_joint_positions": [-0.2701301574707031, 0.03848746418952942, -0.17818233370780945, -1.852384328842163, 1.5787392854690552, 1.574577808380127, 0.5357788801193237], "right_arm_joint_positions": [0.43389105796813965, -0.04813551902770996, 0.7256169319152832, -2.394320011138916, -0.996379017829895, 1.4308416843414307, -2.659592390060425], "pregrasp_goal_pose": [0.3698209988512605, -0.01582291930114925, 1.3492104112745356, 0.15562482544834685, 0.7452415998441367, 0.6341030149702227, 0.1353116328021977], "pregrasp_position_error": 0.04069411868616204, "pregrasp_orientation_error_deg": 9.568749496442567}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.6587837837837838, "tray_projected_count": 296, "tray_visible_count": 195}, "overhead": {"grasp_visibility": 0.9, "grasp_projected_count": 90, "grasp_visible_count": 81, "tray_visibility": 0.7162162162162162, "tray_projected_count": 296, "tray_visible_count": 212}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.8888888888888888, "grasp_projected_count": 90, "grasp_visible_count": 80, "tray_visibility": 0.6, "tray_projected_count": 105, "tray_visible_count": 63}, "over_shoulder_right": {"grasp_visibility": 0.5666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 51, "tray_visibility": 0.5189873417721519, "tray_projected_count": 79, "tray_visible_count": 41}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3557010889053345, "final_height": 1.3557010889053345, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 282, "state": {"door_angle": 0.39067542552948, "tray_height": 1.3558109998703003, "tray_grasped_left": true, "left_arm_pose": [0.37582075595855713, 0.038548558950424194, 1.3548225164413452, 0.1292676031589508, 0.6954383254051208, 0.6952424049377441, 0.12764625251293182], "right_arm_pose": [0.46874111890792847, -0.5103680491447449, 1.0853025913238525, -0.6256288886070251, 0.5018990635871887, 0.5807095170021057, 0.1395069807767868], "left_arm_joint_positions": [-0.25397515296936035, 0.03957822918891907, -0.16343042254447937, -1.8510205745697021, 1.585844874382019, 1.604276180267334, 0.5361195802688599], "right_arm_joint_positions": [0.43387413024902344, -0.048081398010253906, 0.7256076335906982, -2.3942484855651855, -0.9963487386703491, 1.4308605194091797, -2.659619092941284], "pregrasp_goal_pose": [0.3751811889554365, -0.0017852668609622396, 1.3497236830705106, 0.15605000067057814, 0.7459319357761849, 0.6333419811433789, 0.13458038267624986], "pregrasp_position_error": 0.04065986537457152, "pregrasp_orientation_error_deg": 9.690209337267207}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.6385135135135135, "tray_projected_count": 296, "tray_visible_count": 189}, "overhead": {"grasp_visibility": 0.9111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 82, "tray_visibility": 0.7331081081081081, "tray_projected_count": 296, "tray_visible_count": 217}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 84, "grasp_visible_count": 70, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.5904761904761905, "tray_projected_count": 105, "tray_visible_count": 62}, "over_shoulder_right": {"grasp_visibility": 0.5666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 51, "tray_visibility": 0.6197183098591549, "tray_projected_count": 71, "tray_visible_count": 44}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3558109998703003, "final_height": 1.3558109998703003, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 283, "state": {"door_angle": 0.3910895586013794, "tray_height": 1.3558332920074463, "tray_grasped_left": true, "left_arm_pose": [0.37976133823394775, 0.04908832162618637, 1.3550069332122803, 0.12928588688373566, 0.6954109072685242, 0.6952480673789978, 0.12774620950222015], "right_arm_pose": [0.46874162554740906, -0.5103762149810791, 1.0853211879730225, -0.6256128549575806, 0.5019205808639526, 0.5807163119316101, 0.1394738405942917], "left_arm_joint_positions": [-0.24201440811157227, 0.040711909532547, -0.15248581767082214, -1.8488965034484863, 1.5914491415023804, 1.6265854835510254, 0.5364652872085571], "right_arm_joint_positions": [0.4338817596435547, -0.048221588134765625, 0.7256102561950684, -2.394162654876709, -0.9963637590408325, 1.430844783782959, -2.65958571434021], "pregrasp_goal_pose": [0.37910892139635494, 0.008738161590013713, 1.3494884166961905, 0.15577212992379583, 0.7454934199864705, 0.6338278888166899, 0.13504373978107065], "pregrasp_position_error": 0.04073100891474548, "pregrasp_orientation_error_deg": 9.614497883519837}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.581081081081081, "tray_projected_count": 296, "tray_visible_count": 172}, "overhead": {"grasp_visibility": 0.7666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 69, "tray_visibility": 0.7094594594594594, "tray_projected_count": 296, "tray_visible_count": 210}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8452380952380952, "grasp_projected_count": 84, "grasp_visible_count": 71, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.5533980582524272, "tray_projected_count": 103, "tray_visible_count": 57}, "over_shoulder_right": {"grasp_visibility": 0.5666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 51, "tray_visibility": 0.6231884057971014, "tray_projected_count": 69, "tray_visible_count": 43}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3558332920074463, "final_height": 1.3558332920074463, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 284, "state": {"door_angle": 0.391060471534729, "tray_height": 1.3559049367904663, "tray_grasped_left": true, "left_arm_pose": [0.38240963220596313, 0.05601288750767708, 1.3550159931182861, 0.12935537099838257, 0.6953780651092529, 0.695270836353302, 0.12773053348064423], "right_arm_pose": [0.4687369465827942, -0.5103743672370911, 1.0853022336959839, -0.6256284713745117, 0.5018884539604187, 0.5807202458381653, 0.13950268924236298], "left_arm_joint_positions": [-0.23429512977600098, 0.042414456605911255, -0.14540740847587585, -1.8471007347106934, 1.5951074361801147, 1.6410942077636719, 0.5367239713668823], "right_arm_joint_positions": [0.4338836669921875, -0.048126935958862305, 0.7256419658660889, -2.3943018913269043, -0.9963759183883667, 1.4308435916900635, -2.659611701965332], "pregrasp_goal_pose": [0.3817349643555674, 0.015655683518373736, 1.3494418688898497, 0.1557200346620768, 0.745225129669277, 0.6341233405580797, 0.13519750690642351], "pregrasp_position_error": 0.0407459194454689, "pregrasp_orientation_error_deg": 9.572788775541593}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.5777027027027027, "tray_projected_count": 296, "tray_visible_count": 171}, "overhead": {"grasp_visibility": 0.8, "grasp_projected_count": 90, "grasp_visible_count": 72, "tray_visibility": 0.652027027027027, "tray_projected_count": 296, "tray_visible_count": 193}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8452380952380952, "grasp_projected_count": 84, "grasp_visible_count": 71, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.8888888888888888, "grasp_projected_count": 90, "grasp_visible_count": 80, "tray_visibility": 0.5825242718446602, "tray_projected_count": 103, "tray_visible_count": 60}, "over_shoulder_right": {"grasp_visibility": 0.5, "grasp_projected_count": 88, "grasp_visible_count": 44, "tray_visibility": 0.5538461538461539, "tray_projected_count": 65, "tray_visible_count": 36}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3559049367904663, "final_height": 1.3559049367904663, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
+{"frame_index": 285, "state": {"door_angle": 0.3911935091018677, "tray_height": 1.3504225015640259, "tray_grasped_left": false, "left_arm_pose": [0.38386085629463196, 0.059307247400283813, 1.3540637493133545, 0.13014425337314606, 0.6953789591789246, 0.6952299475669861, 0.1271457076072693], "right_arm_pose": [0.4688444137573242, -0.510218620300293, 1.084834337234497, -0.625871479511261, 0.5016258955001831, 0.5805649161338806, 0.14000248908996582], "left_arm_joint_positions": [-0.2306666374206543, 0.043819695711135864, -0.14208337664604187, -1.8470978736877441, 1.5964738130569458, 1.6479966640472412, 0.5369185209274292], "right_arm_joint_positions": [0.43388867378234863, -0.04748892784118652, 0.7256557941436768, -2.3947362899780273, -0.9961758852005005, 1.4308972358703613, -2.6596717834472656], "pregrasp_goal_pose": [0.38347626687693126, 0.020336677330787284, 1.3438590550658926, 0.1554517596475002, 0.7455089184608742, 0.6336285621445141, 0.13625728660320907], "pregrasp_position_error": 0.040286337947819564, "pregrasp_orientation_error_deg": 9.611600546417316}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.19594594594594594, "tray_projected_count": 296, "tray_visible_count": 58}, "overhead": {"grasp_visibility": 0.5222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 47, "tray_visibility": 0.47635135135135137, "tray_projected_count": 296, "tray_visible_count": 141}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 84, "grasp_visible_count": 0, "tray_visibility": 0.21739130434782608, "tray_projected_count": 138, "tray_visible_count": 30}, "over_shoulder_left": {"grasp_visibility": 0.011111111111111112, "grasp_projected_count": 90, "grasp_visible_count": 1, "tray_visibility": 0.5047619047619047, "tray_projected_count": 105, "tray_visible_count": 53}, "over_shoulder_right": {"grasp_visibility": 0.11235955056179775, "grasp_projected_count": 89, "grasp_visible_count": 10, "tray_visibility": 0.5797101449275363, "tray_projected_count": 69, "tray_visible_count": 40}}}, "p_pre": {"tray_grasped_left": false, "source": "strict", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": true, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.18147085659481763, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [0.38347626687693126, 0.020336677330787284, 1.3438590550658926, 0.1554517596475002, 0.7455089184608742, 0.6336285621445141, 0.13625728660320907], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38347626687693126, 0.020336677330787284, 1.3438590550658926, 0.1554517596475002, 0.7455089184608742, 0.6336285621445141, 0.13625728660320907], "strict_path_found": true, "strict_length": 0.18147085659481763, "assisted": null, "candidate_score": 1.0, "source": "strict"}]}, "p_ext": {"initial_height": 1.3504225015640259, "final_height": 1.4031418561935425, "already_grasped_start": false, "already_grasped_end": true, "total_length": 4.271677160602231, "num_milestones": 5, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.2480866526789704, "retreat_score": 0.08353128374930241, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.18147085659481763, "reliability": 1.0, "planner_score": 0.7850866837582265, "height_before": 1.3504225015640259, "height_after": 1.350422739982605}, {"milestone_index": 1, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.10546074099757012, "reliability": 1.0, "planner_score": 0.8688243341015762, "height_before": 1.350422739982605, "height_after": 1.3504225015640259}, {"milestone_index": 2, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.8002873537430752, "reliability": 1.0, "planner_score": 0.09068320242244296, "height_before": 1.3504225015640259, "height_after": 1.1356626749038696}, {"milestone_index": 3, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0930697469674675, "reliability": 1.0, "planner_score": 0.23283474422920694, "height_before": 1.1356626749038696, "height_after": 1.176419734954834}, {"milestone_index": 4, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0913884622993002, "reliability": 1.0, "planner_score": 0.2333572783436996, "height_before": 1.176419734954834, "height_after": 1.4031418561935425}], "score": 1.0}}
+{"frame_index": 286, "state": {"door_angle": 0.39104020595550537, "tray_height": 1.3504916429519653, "tray_grasped_left": false, "left_arm_pose": [0.384160578250885, 0.06028948724269867, 1.3548280000686646, 0.12971031665802002, 0.6953145265579224, 0.6952767372131348, 0.12768428027629852], "right_arm_pose": [0.4687648117542267, -0.5103246569633484, 1.0851348638534546, -0.6257217526435852, 0.5017982125282288, 0.5806530714035034, 0.13968856632709503], "left_arm_joint_positions": [-0.22943568229675293, 0.04346707463264465, -0.1409876048564911, -1.8459501266479492, 1.5972901582717896, 1.6503338813781738, 0.5368465185165405], "right_arm_joint_positions": [0.4338717460632324, -0.04778790473937988, 0.7256200313568115, -2.39437198638916, -0.9963141679763794, 1.4308857917785645, -2.659672498703003], "pregrasp_goal_pose": [0.38530026520747396, 0.024873695867860132, 1.305183205543039, 0.1364446609393132, 0.6323481511209573, 0.7468216671063758, 0.15419490204126884], "pregrasp_position_error": 0.06099330117772513, "pregrasp_orientation_error_deg": 9.840432317512196}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.4222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 38, "tray_visibility": 0.4560810810810811, "tray_projected_count": 296, "tray_visible_count": 135}, "overhead": {"grasp_visibility": 0.7111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 64, "tray_visibility": 0.7331081081081081, "tray_projected_count": 296, "tray_visible_count": 217}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8690476190476191, "grasp_projected_count": 84, "grasp_visible_count": 73, "tray_visibility": 0.9051094890510949, "tray_projected_count": 137, "tray_visible_count": 124}, "over_shoulder_left": {"grasp_visibility": 0.7333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 66, "tray_visibility": 0.5523809523809524, "tray_projected_count": 105, "tray_visible_count": 58}, "over_shoulder_right": {"grasp_visibility": 0.5222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 47, "tray_visibility": 0.5416666666666666, "tray_projected_count": 72, "tray_visible_count": 39}}}, "p_pre": {"tray_grasped_left": false, "source": "strict", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": true, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.32492916030434266, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [0.36530026520747394, 0.024873695867860132, 1.305183205543039, 0.1364446609393132, 0.6323481511209573, 0.7468216671063758, 0.15419490204126884], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38530026520747396, 0.024873695867860132, 1.305183205543039, 0.1364446609393132, 0.6323481511209573, 0.7468216671063758, 0.15419490204126884], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.29082305236745615, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0, "door_quality": 0.0, "collision_names": ["tray", "tray_visual"], "bad_collision_names": ["tray", "tray_visual"], "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_min": 0.0, "alignment_max": 0.0, "door_contact_steps": 0, "path_steps": 11}, {"path_found": true, "path_length": 0.2897096810541679, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0, "door_quality": 0.0, "collision_names": ["tray", "tray_visual"], "bad_collision_names": ["tray", "tray_visual"], "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_min": 0.0, "alignment_max": 0.0, "door_contact_steps": 0, "path_steps": 11}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.36530026520747394, 0.024873695867860132, 1.305183205543039, 0.1364446609393132, 0.6323481511209573, 0.7468216671063758, 0.15419490204126884], "strict_path_found": true, "strict_length": 0.32492916030434266, "assisted": null, "candidate_score": 1.0, "source": "strict"}]}, "p_ext": {"initial_height": 1.348875880241394, "final_height": 1.3932839632034302, "already_grasped_start": false, "already_grasped_end": true, "total_length": 4.01756144922736, "num_milestones": 5, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.23243889119849975, "retreat_score": 0.09259551803448327, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.3077562790550074, "reliability": 1.0, "planner_score": 0.6634235159980522, "height_before": 1.348875880241394, "height_after": 1.3455650806427002}, {"milestone_index": 1, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.09063562337774014, "reliability": 1.0, "planner_score": 0.8861690919919463, "height_before": 1.3455650806427002, "height_after": 1.3286972045898438}, {"milestone_index": 2, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.4632099059822892, "reliability": 1.0, "planner_score": 0.1421394670148986, "height_before": 1.3286972045898438, "height_after": 1.1138523817062378}, {"milestone_index": 3, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0694979654838948, "reliability": 1.0, "planner_score": 0.24026872673253216, "height_before": 1.1138523817062378, "height_after": 1.1614711284637451}, {"milestone_index": 4, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0864616753284286, "reliability": 1.0, "planner_score": 0.23489525981579099, "height_before": 1.1614711284637451, "height_after": 1.3932839632034302}], "score": 1.0}}
+{"frame_index": 287, "state": {"door_angle": 0.3909186124801636, "tray_height": 1.3504222631454468, "tray_grasped_left": false, "left_arm_pose": [0.38431447744369507, 0.06072451174259186, 1.3548119068145752, 0.12971942126750946, 0.6953272819519043, 0.69526207447052, 0.12768501043319702], "right_arm_pose": [0.46879395842552185, -0.5102939605712891, 1.0850688219070435, -0.6257448196411133, 0.5017623901367188, 0.5806424617767334, 0.1397576928138733], "left_arm_joint_positions": [-0.22901153564453125, 0.04364827275276184, -0.14058110117912292, -1.8459229469299316, 1.5974992513656616, 1.651172399520874, 0.5369068384170532], "right_arm_joint_positions": [0.43387389183044434, -0.0477900505065918, 0.7256028652191162, -2.394564151763916, -0.9962645769119263, 1.4308865070343018, -2.6596410274505615], "pregrasp_goal_pose": [0.3835464768989312, 0.020476414705117893, 1.343865168317772, 0.15537070702196815, 0.7455344015992739, 0.6336388783970446, 0.1361622973338866], "pregrasp_position_error": 0.04171726529498393, "pregrasp_orientation_error_deg": 9.623077890775876}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.19594594594594594, "tray_projected_count": 296, "tray_visible_count": 58}, "overhead": {"grasp_visibility": 0.5333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 48, "tray_visibility": 0.49324324324324326, "tray_projected_count": 296, "tray_visible_count": 146}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 84, "grasp_visible_count": 0, "tray_visibility": 0.21739130434782608, "tray_projected_count": 138, "tray_visible_count": 30}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.5047619047619047, "tray_projected_count": 105, "tray_visible_count": 53}, "over_shoulder_right": {"grasp_visibility": 0.11235955056179775, "grasp_projected_count": 89, "grasp_visible_count": 10, "tray_visibility": 0.5797101449275363, "tray_projected_count": 69, "tray_visible_count": 40}}}, "p_pre": {"tray_grasped_left": false, "source": "strict", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": true, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.18209430788997746, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [0.3835464768989312, 0.020476414705117893, 1.343865168317772, 0.15537070702196815, 0.7455344015992739, 0.6336388783970446, 0.1361622973338866], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3835464768989312, 0.020476414705117893, 1.343865168317772, 0.15537070702196815, 0.7455344015992739, 0.6336388783970446, 0.1361622973338866], "strict_path_found": true, "strict_length": 0.18209430788997746, "assisted": null, "candidate_score": 1.0, "source": "strict"}]}, "p_ext": {"initial_height": 1.3504222631454468, "final_height": 1.3982305526733398, "already_grasped_start": false, "already_grasped_end": true, "total_length": 4.259074770004208, "num_milestones": 5, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.2479950525335476, "retreat_score": 0.0841473275605646, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.18209430788997746, "reliability": 1.0, "planner_score": 0.784434337186932, "height_before": 1.3504222631454468, "height_after": 1.350422739982605}, {"milestone_index": 1, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.10542476312451098, "reliability": 1.0, "planner_score": 0.8688660130367185, "height_before": 1.350422739982605, "height_after": 1.350422739982605}, {"milestone_index": 2, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.8002108593367532, "reliability": 1.0, "planner_score": 0.0906924519044343, "height_before": 1.350422739982605, "height_after": 1.1284044981002808}, {"milestone_index": 3, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0823651989288534, "reliability": 1.0, "planner_score": 0.23618176054830295, "height_before": 1.1284044981002808, "height_after": 1.1715682744979858}, {"milestone_index": 4, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.088979640724113, "reliability": 1.0, "planner_score": 0.23410797128436014, "height_before": 1.1715682744979858, "height_after": 1.3982305526733398}], "score": 1.0}}
+{"frame_index": 288, "state": {"door_angle": 0.3907872438430786, "tray_height": 1.3504222631454468, "tray_grasped_left": false, "left_arm_pose": [0.38443809747695923, 0.06087455898523331, 1.3545788526535034, 0.12985211610794067, 0.695328414440155, 0.695258378982544, 0.12756459414958954], "right_arm_pose": [0.4688050150871277, -0.5102751851081848, 1.085019588470459, -0.6258314251899719, 0.5016545653343201, 0.5805960893630981, 0.13994982838630676], "left_arm_joint_positions": [-0.22884416580200195, 0.043942004442214966, -0.14043566584587097, -1.845970630645752, 1.597558856010437, 1.6514582633972168, 0.5368989706039429], "right_arm_joint_positions": [0.4338834285736084, -0.04771280288696289, 0.7256381511688232, -2.3944482803344727, -0.9962037801742554, 1.4307541847229004, -2.65999174118042], "pregrasp_goal_pose": [0.383641900278491, 0.019802349340445793, 1.3438611214033074, 0.1545666622378916, 0.7457003988609786, 0.6337808544751876, 0.13550605360616227], "pregrasp_position_error": 0.042455036194021245, "pregrasp_orientation_error_deg": 9.583838364887223}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.19256756756756757, "tray_projected_count": 296, "tray_visible_count": 57}, "overhead": {"grasp_visibility": 0.4777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 43, "tray_visibility": 0.47297297297297297, "tray_projected_count": 296, "tray_visible_count": 140}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 84, "grasp_visible_count": 0, "tray_visibility": 0.23076923076923078, "tray_projected_count": 130, "tray_visible_count": 30}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.5047619047619047, "tray_projected_count": 105, "tray_visible_count": 53}, "over_shoulder_right": {"grasp_visibility": 0.11235955056179775, "grasp_projected_count": 89, "grasp_visible_count": 10, "tray_visibility": 0.5797101449275363, "tray_projected_count": 69, "tray_visible_count": 40}}}, "p_pre": {"tray_grasped_left": false, "source": "strict", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": true, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.18310424688950516, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [0.383641900278491, 0.019802349340445793, 1.3438611214033074, 0.1545666622378916, 0.7457003988609786, 0.6337808544751876, 0.13550605360616227], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.383641900278491, 0.019802349340445793, 1.3438611214033074, 0.1545666622378916, 0.7457003988609786, 0.6337808544751876, 0.13550605360616227], "strict_path_found": true, "strict_length": 0.18310424688950516, "assisted": null, "candidate_score": 1.0, "source": "strict"}]}, "p_ext": {"initial_height": 1.3504222631454468, "final_height": 1.3988778591156006, "already_grasped_start": false, "already_grasped_end": true, "total_length": 4.224642170704199, "num_milestones": 5, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.24782463575271405, "retreat_score": 0.0859509235361322, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.18310424688950516, "reliability": 1.0, "planner_score": 0.783378740299159, "height_before": 1.3504222631454468, "height_after": 1.3504220247268677}, {"milestone_index": 1, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.10549426640292522, "reliability": 1.0, "planner_score": 0.868785498052268, "height_before": 1.3504220247268677, "height_after": 1.3504225015640259}, {"milestone_index": 2, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.8030527559311385, "reliability": 1.0, "planner_score": 0.09034945073712973, "height_before": 1.3504225015640259, "height_after": 1.1306005716323853}, {"milestone_index": 3, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.045357288435199, "reliability": 1.0, "planner_score": 0.24812820322189627, "height_before": 1.1306005716323853, "height_after": 1.1725051403045654}, {"milestone_index": 4, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0876336130454312, "reliability": 1.0, "planner_score": 0.234528502948522, "height_before": 1.1725051403045654, "height_after": 1.3988778591156006}], "score": 1.0}}
+{"frame_index": 289, "state": {"door_angle": 0.3907514810562134, "tray_height": 1.3504222631454468, "tray_grasped_left": false, "left_arm_pose": [0.38438117504119873, 0.0609247051179409, 1.3550015687942505, 0.1295623630285263, 0.6953256130218506, 0.6952635645866394, 0.12784597277641296], "right_arm_pose": [0.46876999735832214, -0.5103462934494019, 1.0851632356643677, -0.6258218288421631, 0.5016669034957886, 0.5806025862693787, 0.139921635389328], "left_arm_joint_positions": [-0.2287917137145996, 0.04374554753303528, -0.1403777301311493, -1.8454601764678955, 1.597629427909851, 1.6515779495239258, 0.5367957353591919], "right_arm_joint_positions": [0.4338834285736084, -0.0478208065032959, 0.7256162166595459, -2.394166946411133, -0.9962226152420044, 1.4306159019470215, -2.660278081893921], "pregrasp_goal_pose": [0.3836437782409814, 0.01969190573051771, 1.3438638563049252, 0.15423295916762939, 0.745771345613585, 0.6338425876569038, 0.13520676181500527], "pregrasp_position_error": 0.04271693035389281, "pregrasp_orientation_error_deg": 9.576585573618457}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.19256756756756757, "tray_projected_count": 296, "tray_visible_count": 57}, "overhead": {"grasp_visibility": 0.4888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 44, "tray_visibility": 0.47297297297297297, "tray_projected_count": 296, "tray_visible_count": 140}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 84, "grasp_visible_count": 0, "tray_visibility": 0.23076923076923078, "tray_projected_count": 130, "tray_visible_count": 30}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.5047619047619047, "tray_projected_count": 105, "tray_visible_count": 53}, "over_shoulder_right": {"grasp_visibility": 0.0898876404494382, "grasp_projected_count": 89, "grasp_visible_count": 8, "tray_visibility": 0.5797101449275363, "tray_projected_count": 69, "tray_visible_count": 40}}}, "p_pre": {"tray_grasped_left": false, "source": "strict", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": true, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.18338306978738597, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [0.3836437782409814, 0.01969190573051771, 1.3438638563049252, 0.15423295916762939, 0.745771345613585, 0.6338425876569038, 0.13520676181500527], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3836437782409814, 0.01969190573051771, 1.3438638563049252, 0.15423295916762939, 0.745771345613585, 0.6338425876569038, 0.13520676181500527], "strict_path_found": true, "strict_length": 0.18338306978738597, "assisted": null, "candidate_score": 1.0, "source": "strict"}]}, "p_ext": {"initial_height": 1.3504222631454468, "final_height": 1.3997352123260498, "already_grasped_start": false, "already_grasped_end": true, "total_length": 4.264720229230223, "num_milestones": 5, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.24777441805892308, "retreat_score": 0.08406517559642177, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.18338306978738597, "reliability": 1.0, "planner_score": 0.7830875625198561, "height_before": 1.3504222631454468, "height_after": 1.3504225015640259}, {"milestone_index": 1, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.10553191200746267, "reliability": 1.0, "planner_score": 0.8687418912062979, "height_before": 1.3504225015640259, "height_after": 1.3504219055175781}, {"milestone_index": 2, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.8042901165000322, "reliability": 1.0, "planner_score": 0.09020051383299602, "height_before": 1.3504219055175781, "height_after": 1.1323760747909546}, {"milestone_index": 3, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.083454049928126, "reliability": 1.0, "planner_score": 0.2358391203365996, "height_before": 1.1323760747909546, "height_after": 1.1731311082839966}, {"milestone_index": 4, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0880610810072162, "reliability": 1.0, "planner_score": 0.23439486980654958, "height_before": 1.1731311082839966, "height_after": 1.3997352123260498}], "score": 1.0}}
+{"frame_index": 290, "state": {"door_angle": 0.3911665678024292, "tray_height": 1.350422739982605, "tray_grasped_left": false, "left_arm_pose": [0.38442379236221313, 0.06093920022249222, 1.3548014163970947, 0.1296859234571457, 0.6953373551368713, 0.6952501535415649, 0.12772966921329498], "right_arm_pose": [0.46879854798316956, -0.5103118419647217, 1.0851013660430908, -0.6258667707443237, 0.50162672996521, 0.5805650353431702, 0.1400204598903656], "left_arm_joint_positions": [-0.2287588119506836, 0.043984681367874146, -0.14038464426994324, -1.8457920551300049, 1.5975459814071655, 1.651599407196045, 0.5367730855941772], "right_arm_joint_positions": [0.43387651443481445, -0.04765677452087402, 0.7256217002868652, -2.3943734169006348, -0.9961377382278442, 1.430626630783081, -2.660318374633789], "pregrasp_goal_pose": [0.3834845353465099, 0.019785139548500807, 1.3438636863732285, 0.15451405859255515, 0.7457073057677337, 0.6338004591043999, 0.1354363240085019], "pregrasp_position_error": 0.042593108031406895, "pregrasp_orientation_error_deg": 9.582691022733908}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.19256756756756757, "tray_projected_count": 296, "tray_visible_count": 57}, "overhead": {"grasp_visibility": 0.4666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 42, "tray_visibility": 0.47635135135135137, "tray_projected_count": 296, "tray_visible_count": 141}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 84, "grasp_visible_count": 0, "tray_visibility": 0.23076923076923078, "tray_projected_count": 130, "tray_visible_count": 30}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.5047619047619047, "tray_projected_count": 105, "tray_visible_count": 53}, "over_shoulder_right": {"grasp_visibility": 0.0898876404494382, "grasp_projected_count": 89, "grasp_visible_count": 8, "tray_visibility": 0.5797101449275363, "tray_projected_count": 69, "tray_visible_count": 40}}}, "p_pre": {"tray_grasped_left": false, "source": "strict", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": true, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.18304248510181112, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [0.3834845353465099, 0.019785139548500807, 1.3438636863732285, 0.15451405859255515, 0.7457073057677337, 0.6338004591043999, 0.1354363240085019], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3834845353465099, 0.019785139548500807, 1.3438636863732285, 0.15451405859255515, 0.7457073057677337, 0.6338004591043999, 0.1354363240085019], "strict_path_found": true, "strict_length": 0.18304248510181112, "assisted": null, "candidate_score": 1.0, "source": "strict"}]}, "p_ext": {"initial_height": 1.350422739982605, "final_height": 1.3942025899887085, "already_grasped_start": false, "already_grasped_end": true, "total_length": 4.255225884567317, "num_milestones": 5, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.24782330117555804, "retreat_score": 0.08447439628065118, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.18304248510181112, "reliability": 1.0, "planner_score": 0.7834432534506774, "height_before": 1.350422739982605, "height_after": 1.3504225015640259}, {"milestone_index": 1, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.10555764231769192, "reliability": 1.0, "planner_score": 0.8687120877197095, "height_before": 1.3504225015640259, "height_after": 1.350422739982605}, {"milestone_index": 2, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.8033912228096625, "reliability": 1.0, "planner_score": 0.09030868620736057, "height_before": 1.350422739982605, "height_after": 1.1319884061813354}, {"milestone_index": 3, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.074869247945622, "reliability": 1.0, "planner_score": 0.23855413882095883, "height_before": 1.1319884061813354, "height_after": 1.1658254861831665}, {"milestone_index": 4, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0883652863925295, "reliability": 1.0, "planner_score": 0.23429981684268847, "height_before": 1.1658254861831665, "height_after": 1.3942025899887085}], "score": 1.0}}
+{"frame_index": 291, "state": {"door_angle": 0.39079391956329346, "tray_height": 1.350422739982605, "tray_grasped_left": false, "left_arm_pose": [0.38447511196136475, 0.06093873456120491, 1.3546451330184937, 0.12975117564201355, 0.6953597664833069, 0.6952329874038696, 0.12763454020023346], "right_arm_pose": [0.4687983989715576, -0.5102799534797668, 1.0849997997283936, -0.6258811950683594, 0.5016138553619385, 0.5805560946464539, 0.14003893733024597], "left_arm_joint_positions": [-0.2287440299987793, 0.04397037625312805, -0.14038249850273132, -1.8458878993988037, 1.5974889993667603, 1.6515812873840332, 0.5367399454116821], "right_arm_joint_positions": [0.4338815212249756, -0.04756450653076172, 0.7256247997283936, -2.3944177627563477, -0.9961689710617065, 1.4307212829589844, -2.660167932510376], "pregrasp_goal_pose": [0.383626015396928, 0.02034394690347273, 1.34386507652472, 0.155160223667572, 0.7455755543883339, 0.6336809365869835, 0.13598113213310414], "pregrasp_position_error": 0.042010324540058666, "pregrasp_orientation_error_deg": 9.607723223868513}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.19594594594594594, "tray_projected_count": 296, "tray_visible_count": 58}, "overhead": {"grasp_visibility": 0.5222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 47, "tray_visibility": 0.47297297297297297, "tray_projected_count": 296, "tray_visible_count": 140}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 84, "grasp_visible_count": 0, "tray_visibility": 0.21739130434782608, "tray_projected_count": 138, "tray_visible_count": 30}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.5047619047619047, "tray_projected_count": 105, "tray_visible_count": 53}, "over_shoulder_right": {"grasp_visibility": 0.11235955056179775, "grasp_projected_count": 89, "grasp_visible_count": 10, "tray_visibility": 0.5652173913043478, "tray_projected_count": 69, "tray_visible_count": 39}}}, "p_pre": {"tray_grasped_left": false, "source": "strict", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": true, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.18240019306437527, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [0.383626015396928, 0.02034394690347273, 1.34386507652472, 0.155160223667572, 0.7455755543883339, 0.6336809365869835, 0.13598113213310414], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.383626015396928, 0.02034394690347273, 1.34386507652472, 0.155160223667572, 0.7455755543883339, 0.6336809365869835, 0.13598113213310414], "strict_path_found": true, "strict_length": 0.18240019306437527, "assisted": null, "candidate_score": 1.0, "source": "strict"}]}, "p_ext": {"initial_height": 1.350422739982605, "final_height": 1.4027519226074219, "already_grasped_start": false, "already_grasped_end": true, "total_length": 4.265552117116689, "num_milestones": 5, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.24794402143844532, "retreat_score": 0.08387698835006158, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.18240019306437527, "reliability": 1.0, "planner_score": 0.7841144733070662, "height_before": 1.350422739982605, "height_after": 1.3504225015640259}, {"milestone_index": 1, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.10544232365053477, "reliability": 1.0, "planner_score": 0.8688456696159027, "height_before": 1.3504225015640259, "height_after": 1.3504222631454468}, {"milestone_index": 2, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.8008781485550587, "reliability": 1.0, "planner_score": 0.09061179699607196, "height_before": 1.3504222631454468, "height_after": 1.1395564079284668}, {"milestone_index": 3, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0885273198855736, "reliability": 1.0, "planner_score": 0.2342492030866443, "height_before": 1.1395564079284668, "height_after": 1.1767241954803467}, {"milestone_index": 4, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0883041319611466, "reliability": 1.0, "planner_score": 0.23431892225102763, "height_before": 1.1767241954803467, "height_after": 1.4027519226074219}], "score": 1.0}}
+{"frame_index": 292, "state": {"door_angle": 0.3909047842025757, "tray_height": 1.3504222631454468, "tray_grasped_left": false, "left_arm_pose": [0.3843933343887329, 0.060982536524534225, 1.354925274848938, 0.12955646216869354, 0.6953337788581848, 0.695257842540741, 0.12783856689929962], "right_arm_pose": [0.468735933303833, -0.5103623270988464, 1.0851750373840332, -0.6257596015930176, 0.5017642974853516, 0.5806257128715515, 0.13975495100021362], "left_arm_joint_positions": [-0.22873902320861816, 0.04379728436470032, -0.14035865664482117, -1.8457880020141602, 1.597633957862854, 1.6515960693359375, 0.5366185903549194], "right_arm_joint_positions": [0.4338676929473877, -0.047760009765625, 0.7255988121032715, -2.3942360877990723, -0.9963096380233765, 1.4307498931884766, -2.65991473197937], "pregrasp_goal_pose": [0.3836251086247927, 0.02001957422231404, 1.3438613925875358, 0.15492631958131936, 0.7456219785942348, 0.6337222519625395, 0.1358006182082122], "pregrasp_position_error": 0.04243776551718603, "pregrasp_orientation_error_deg": 9.605663686715898}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.19594594594594594, "tray_projected_count": 296, "tray_visible_count": 58}, "overhead": {"grasp_visibility": 0.4666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 42, "tray_visibility": 0.47297297297297297, "tray_projected_count": 296, "tray_visible_count": 140}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 84, "grasp_visible_count": 0, "tray_visibility": 0.21739130434782608, "tray_projected_count": 138, "tray_visible_count": 30}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.5047619047619047, "tray_projected_count": 105, "tray_visible_count": 53}, "over_shoulder_right": {"grasp_visibility": 0.11235955056179775, "grasp_projected_count": 89, "grasp_visible_count": 10, "tray_visibility": 0.5797101449275363, "tray_projected_count": 69, "tray_visible_count": 40}}}, "p_pre": {"tray_grasped_left": false, "source": "strict", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": true, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.18280269894159712, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [0.3836251086247927, 0.02001957422231404, 1.3438613925875358, 0.15492631958131936, 0.7456219785942348, 0.6337222519625395, 0.1358006182082122], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3836251086247927, 0.02001957422231404, 1.3438613925875358, 0.15492631958131936, 0.7456219785942348, 0.6337222519625395, 0.1358006182082122], "strict_path_found": true, "strict_length": 0.18280269894159712, "assisted": null, "candidate_score": 1.0, "source": "strict"}]}, "p_ext": {"initial_height": 1.3504222631454468, "final_height": 1.3979673385620117, "already_grasped_start": false, "already_grasped_end": true, "total_length": 4.246896963559269, "num_milestones": 5, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.24787950614330953, "retreat_score": 0.0848176577819828, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.18280269894159712, "reliability": 1.0, "planner_score": 0.7836937719617787, "height_before": 1.3504222631454468, "height_after": 1.350422739982605}, {"milestone_index": 1, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.10545043844594902, "reliability": 1.0, "planner_score": 0.8688362689936182, "height_before": 1.350422739982605, "height_after": 1.3504225015640259}, {"milestone_index": 2, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.8020908527723491, "reliability": 1.0, "planner_score": 0.09046540163967394, "height_before": 1.3504225015640259, "height_after": 1.1285463571548462}, {"milestone_index": 3, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0685485130945405, "reliability": 1.0, "planner_score": 0.24057308429614038, "height_before": 1.1285463571548462, "height_after": 1.1716506481170654}, {"milestone_index": 4, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.088004460304833, "reliability": 1.0, "planner_score": 0.23441256594407095, "height_before": 1.1716506481170654, "height_after": 1.3979673385620117}], "score": 1.0}}
+{"frame_index": 293, "state": {"door_angle": 0.39092791080474854, "tray_height": 1.350422739982605, "tray_grasped_left": false, "left_arm_pose": [0.38443654775619507, 0.060971107333898544, 1.3547731637954712, 0.1296306848526001, 0.6953681707382202, 0.695229172706604, 0.1277320832014084], "right_arm_pose": [0.4687842130661011, -0.5103070735931396, 1.0851060152053833, -0.6257688999176025, 0.5017238259315491, 0.5806338787078857, 0.13982412219047546], "left_arm_joint_positions": [-0.2287430763244629, 0.04400709271430969, -0.14033696055412292, -1.845653772354126, 1.5975345373153687, 1.651609182357788, 0.5366660356521606], "right_arm_joint_positions": [0.4338815212249756, -0.047780752182006836, 0.7255983352661133, -2.3944554328918457, -0.9962424039840698, 1.4307925701141357, -2.659881353378296], "pregrasp_goal_pose": [0.38359562195296526, 0.02021797780244329, 1.343861242594408, 0.15516842183612062, 0.7455723714534847, 0.6336758814441352, 0.1360127827305708], "pregrasp_position_error": 0.0421970940600454, "pregrasp_orientation_error_deg": 9.610767061820088}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.19594594594594594, "tray_projected_count": 296, "tray_visible_count": 58}, "overhead": {"grasp_visibility": 0.5, "grasp_projected_count": 90, "grasp_visible_count": 45, "tray_visibility": 0.47297297297297297, "tray_projected_count": 296, "tray_visible_count": 140}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 84, "grasp_visible_count": 0, "tray_visibility": 0.21739130434782608, "tray_projected_count": 138, "tray_visible_count": 30}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.5047619047619047, "tray_projected_count": 105, "tray_visible_count": 53}, "over_shoulder_right": {"grasp_visibility": 0.11235955056179775, "grasp_projected_count": 89, "grasp_visible_count": 10, "tray_visibility": 0.5652173913043478, "tray_projected_count": 69, "tray_visible_count": 39}}}, "p_pre": {"tray_grasped_left": false, "source": "strict", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": true, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.18243668115533046, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [0.38359562195296526, 0.02021797780244329, 1.343861242594408, 0.15516842183612062, 0.7455723714534847, 0.6336758814441352, 0.1360127827305708], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38359562195296526, 0.02021797780244329, 1.343861242594408, 0.15516842183612062, 0.7455723714534847, 0.6336758814441352, 0.1360127827305708], "strict_path_found": true, "strict_length": 0.18243668115533046, "assisted": null, "candidate_score": 1.0, "source": "strict"}]}, "p_ext": {"initial_height": 1.350422739982605, "final_height": 1.3958654403686523, "already_grasped_start": false, "already_grasped_end": true, "total_length": 4.266062714459425, "num_milestones": 5, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.24793663054842274, "retreat_score": 0.08386321947684305, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.18243668115533046, "reliability": 1.0, "planner_score": 0.7840763264480494, "height_before": 1.350422739982605, "height_after": 1.350422739982605}, {"milestone_index": 1, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.10545192761078667, "reliability": 1.0, "planner_score": 0.868834543874769, "height_before": 1.350422739982605, "height_after": 1.3504225015640259}, {"milestone_index": 2, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.8011540842468705, "reliability": 1.0, "planner_score": 0.09057846575611321, "height_before": 1.3504225015640259, "height_after": 1.1242306232452393}, {"milestone_index": 3, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.089544148393601, "reliability": 1.0, "planner_score": 0.23393182992107173, "height_before": 1.1242306232452393, "height_after": 1.1676671504974365}, {"milestone_index": 4, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0874758730528364, "reliability": 1.0, "planner_score": 0.23457783416843545, "height_before": 1.1676671504974365, "height_after": 1.3958654403686523}], "score": 1.0}}
+{"frame_index": 294, "state": {"door_angle": 0.39102160930633545, "tray_height": 1.350422978401184, "tray_grasped_left": false, "left_arm_pose": [0.3845110535621643, 0.06095288693904877, 1.3545280694961548, 0.1297818273305893, 0.6953486204147339, 0.6952443718910217, 0.12760214507579803], "right_arm_pose": [0.46879273653030396, -0.5102704167366028, 1.0850722789764404, -0.6257554888725281, 0.501709520816803, 0.5806615948677063, 0.1398206651210785], "left_arm_joint_positions": [-0.22873473167419434, 0.04421690106391907, -0.14033767580986023, -1.8460636138916016, 1.5976155996322632, 1.651597261428833, 0.5366050004959106], "right_arm_joint_positions": [0.4338819980621338, -0.04783463478088379, 0.7256224155426025, -2.394526958465576, -0.996322512626648, 1.4308314323425293, -2.6597869396209717], "pregrasp_goal_pose": [0.38352426110597904, 0.02029847419547827, 1.343864215314098, 0.1550530773011414, 0.7455978627860053, 0.633698703283994, 0.13589821074823608], "pregrasp_position_error": 0.04204132277762369, "pregrasp_orientation_error_deg": 9.604131194898223}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.19256756756756757, "tray_projected_count": 296, "tray_visible_count": 57}, "overhead": {"grasp_visibility": 0.5111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 46, "tray_visibility": 0.47635135135135137, "tray_projected_count": 296, "tray_visible_count": 141}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 84, "grasp_visible_count": 0, "tray_visibility": 0.21897810218978103, "tray_projected_count": 137, "tray_visible_count": 30}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.5047619047619047, "tray_projected_count": 105, "tray_visible_count": 53}, "over_shoulder_right": {"grasp_visibility": 0.11235955056179775, "grasp_projected_count": 89, "grasp_visible_count": 10, "tray_visibility": 0.5797101449275363, "tray_projected_count": 69, "tray_visible_count": 40}}}, "p_pre": {"tray_grasped_left": false, "source": "strict", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": true, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.18253757763528697, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [0.38352426110597904, 0.02029847419547827, 1.343864215314098, 0.1550530773011414, 0.7455978627860053, 0.633698703283994, 0.13589821074823608], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38352426110597904, 0.02029847419547827, 1.343864215314098, 0.1550530773011414, 0.7455978627860053, 0.633698703283994, 0.13589821074823608], "strict_path_found": true, "strict_length": 0.18253757763528697, "assisted": null, "candidate_score": 1.0, "source": "strict"}]}, "p_ext": {"initial_height": 1.350422978401184, "final_height": 1.3937934637069702, "already_grasped_start": false, "already_grasped_end": true, "total_length": 4.268386058882935, "num_milestones": 5, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.24791051586849955, "retreat_score": 0.08376634164340455, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.18253757763528697, "reliability": 1.0, "planner_score": 0.7839708528210124, "height_before": 1.350422978401184, "height_after": 1.3504225015640259}, {"milestone_index": 1, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.10551116813292714, "reliability": 1.0, "planner_score": 0.8687659196356514, "height_before": 1.3504225015640259, "height_after": 1.3504232168197632}, {"milestone_index": 2, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.8013051722971443, "reliability": 1.0, "planner_score": 0.09056022049555162, "height_before": 1.3504232168197632, "height_after": 1.1211117506027222}, {"milestone_index": 3, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.090971846686682, "reliability": 1.0, "planner_score": 0.23348694140076956, "height_before": 1.1211117506027222, "height_after": 1.165543794631958}, {"milestone_index": 4, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0880602941308948, "reliability": 1.0, "planner_score": 0.2343951157263758, "height_before": 1.165543794631958, "height_after": 1.3937934637069702}], "score": 1.0}}
+{"frame_index": 295, "state": {"door_angle": 0.39095985889434814, "tray_height": 1.3504220247268677, "tray_grasped_left": false, "left_arm_pose": [0.3843950629234314, 0.060961078852415085, 1.354933738708496, 0.12949435412883759, 0.6953279972076416, 0.6952647566795349, 0.12789525091648102], "right_arm_pose": [0.46875235438346863, -0.5103467702865601, 1.0852458477020264, -0.6256590485572815, 0.5018407702445984, 0.5807116031646729, 0.1395731121301651], "left_arm_joint_positions": [-0.2287309169769287, 0.043825894594192505, -0.14040681719779968, -1.8457696437835693, 1.5976887941360474, 1.6515967845916748, 0.5364373922348022], "right_arm_joint_positions": [0.43388819694519043, -0.04813861846923828, 0.7255980968475342, -2.394411563873291, -0.9963780641555786, 1.4308791160583496, -2.6596784591674805], "pregrasp_goal_pose": [0.3835031589355788, 0.020240420470199083, 1.3438567718049972, 0.15509134398466773, 0.7455771436553615, 0.6337030823207441, 0.13594778901081836], "pregrasp_position_error": 0.04220979397706054, "pregrasp_orientation_error_deg": 9.61408388398394}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.19256756756756757, "tray_projected_count": 296, "tray_visible_count": 57}, "overhead": {"grasp_visibility": 0.5, "grasp_projected_count": 90, "grasp_visible_count": 45, "tray_visibility": 0.47635135135135137, "tray_projected_count": 296, "tray_visible_count": 141}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 84, "grasp_visible_count": 0, "tray_visibility": 0.23076923076923078, "tray_projected_count": 130, "tray_visible_count": 30}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.5047619047619047, "tray_projected_count": 105, "tray_visible_count": 53}, "over_shoulder_right": {"grasp_visibility": 0.10112359550561797, "grasp_projected_count": 89, "grasp_visible_count": 9, "tray_visibility": 0.5797101449275363, "tray_projected_count": 69, "tray_visible_count": 40}}}, "p_pre": {"tray_grasped_left": false, "source": "strict", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": true, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.1825250003667121, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [0.3835031589355788, 0.020240420470199083, 1.3438567718049972, 0.15509134398466773, 0.7455771436553615, 0.6337030823207441, 0.13594778901081836], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3835031589355788, 0.020240420470199083, 1.3438567718049972, 0.15509134398466773, 0.7455771436553615, 0.6337030823207441, 0.13594778901081836], "strict_path_found": true, "strict_length": 0.1825250003667121, "assisted": null, "candidate_score": 1.0, "source": "strict"}]}, "p_ext": {"initial_height": 1.3504220247268677, "final_height": 1.406201720237732, "already_grasped_start": false, "already_grasped_end": true, "total_length": 4.268753175939257, "num_milestones": 5, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.24791821880281614, "retreat_score": 0.08374248342037043, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.1825250003667121, "reliability": 1.0, "planner_score": 0.7839839998805426, "height_before": 1.3504220247268677, "height_after": 1.3504222631454468}, {"milestone_index": 1, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.10547818600708926, "reliability": 1.0, "planner_score": 0.8688041254715652, "height_before": 1.3504222631454468, "height_after": 1.350422978401184}, {"milestone_index": 2, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.8011503490444976, "reliability": 1.0, "planner_score": 0.09057891686243684, "height_before": 1.350422978401184, "height_after": 1.130039095878601}, {"milestone_index": 3, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0903181235706305, "reliability": 1.0, "planner_score": 0.23369054453578275, "height_before": 1.130039095878601, "height_after": 1.174086332321167}, {"milestone_index": 4, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0892815169503276, "reliability": 1.0, "planner_score": 0.23401376140424995, "height_before": 1.174086332321167, "height_after": 1.406201720237732}], "score": 1.0}}
+{"frame_index": 296, "state": {"door_angle": 0.3906322717666626, "tray_height": 1.3504220247268677, "tray_grasped_left": false, "left_arm_pose": [0.38444533944129944, 0.06099524348974228, 1.354750394821167, 0.12962841987609863, 0.6953272819519043, 0.6952641606330872, 0.12776640057563782], "right_arm_pose": [0.46876710653305054, -0.5103248953819275, 1.0851649045944214, -0.6256979703903198, 0.5018069744110107, 0.5806775093078613, 0.13966220617294312], "left_arm_joint_positions": [-0.22873282432556152, 0.043949395418167114, -0.1403467357158661, -1.8457798957824707, 1.5976661443710327, 1.6516237258911133, 0.5364843606948853], "right_arm_joint_positions": [0.43387341499328613, -0.04795122146606445, 0.7256002426147461, -2.394460678100586, -0.9963158369064331, 1.43086838722229, -2.6596734523773193], "pregrasp_goal_pose": [0.3835563642167493, 0.020048262831553768, 1.3438605537648667, 0.1547662565538823, 0.7456538647568943, 0.6337527342632366, 0.13566573487537897], "pregrasp_position_error": 0.0423796429928735, "pregrasp_orientation_error_deg": 9.597568329573415}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.19256756756756757, "tray_projected_count": 296, "tray_visible_count": 57}, "overhead": {"grasp_visibility": 0.4666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 42, "tray_visibility": 0.47635135135135137, "tray_projected_count": 296, "tray_visible_count": 141}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 84, "grasp_visible_count": 0, "tray_visibility": 0.23076923076923078, "tray_projected_count": 130, "tray_visible_count": 30}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.5047619047619047, "tray_projected_count": 105, "tray_visible_count": 53}, "over_shoulder_right": {"grasp_visibility": 0.0898876404494382, "grasp_projected_count": 89, "grasp_visible_count": 8, "tray_visibility": 0.5797101449275363, "tray_projected_count": 69, "tray_visible_count": 40}}}, "p_pre": {"tray_grasped_left": false, "source": "strict", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": true, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.18293061686743192, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [0.3835563642167493, 0.020048262831553768, 1.3438605537648667, 0.1547662565538823, 0.7456538647568943, 0.6337527342632366, 0.13566573487537897], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3835563642167493, 0.020048262831553768, 1.3438605537648667, 0.1547662565538823, 0.7456538647568943, 0.6337527342632366, 0.13566573487537897], "strict_path_found": true, "strict_length": 0.18293061686743192, "assisted": null, "candidate_score": 1.0, "source": "strict"}]}, "p_ext": {"initial_height": 1.3504220247268677, "final_height": 1.406982183456421, "already_grasped_start": false, "already_grasped_end": true, "total_length": 4.268892092203122, "num_milestones": 5, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.24785217411922184, "retreat_score": 0.08378894033048151, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.18293061686743192, "reliability": 1.0, "planner_score": 0.7835601187174679, "height_before": 1.3504220247268677, "height_after": 1.350422978401184}, {"milestone_index": 1, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.10549235797247668, "reliability": 1.0, "planner_score": 0.868787708744011, "height_before": 1.350422978401184, "height_after": 1.3504225015640259}, {"milestone_index": 2, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.8023117837858922, "reliability": 1.0, "planner_score": 0.09043875674715558, "height_before": 1.3504225015640259, "height_after": 1.1331007480621338}, {"milestone_index": 3, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0887220723835362, "reliability": 1.0, "planner_score": 0.23418838349356866, "height_before": 1.1331007480621338, "height_after": 1.1760082244873047}, {"milestone_index": 4, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0894352611937845, "reliability": 1.0, "planner_score": 0.23396579529581915, "height_before": 1.1760082244873047, "height_after": 1.406982183456421}], "score": 1.0}}
+{"frame_index": 297, "state": {"door_angle": 0.39098060131073, "tray_height": 1.3501917123794556, "tray_grasped_left": false, "left_arm_pose": [0.38450193405151367, 0.06094937026500702, 1.3545466661453247, 0.12979155778884888, 0.6953240633010864, 0.6952623128890991, 0.12762834131717682], "right_arm_pose": [0.4687875211238861, -0.510313868522644, 1.0850926637649536, -0.6257821321487427, 0.5017065405845642, 0.5806271433830261, 0.13985510170459747], "left_arm_joint_positions": [-0.22874951362609863, 0.044236451387405396, -0.14035174250602722, -1.845996379852295, 1.5976370573043823, 1.651615858078003, 0.536579966545105], "right_arm_joint_positions": [0.43387675285339355, -0.04776644706726074, 0.7256326675415039, -2.394400119781494, -0.9962652921676636, 1.4307143688201904, -2.659960985183716], "pregrasp_goal_pose": [0.3852357542392092, 0.024538486473800622, 1.3048386525148554, 0.13763081554765239, 0.6316259374796245, 0.7470575737203561, 0.1549561720672272], "pregrasp_position_error": 0.061621242843775285, "pregrasp_orientation_error_deg": 9.959066188688388}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_left", "camera_values": {"front": {"grasp_visibility": 0.4222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 38, "tray_visibility": 0.4560810810810811, "tray_projected_count": 296, "tray_visible_count": 135}, "overhead": {"grasp_visibility": 0.6888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 62, "tray_visibility": 0.6959459459459459, "tray_projected_count": 296, "tray_visible_count": 206}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8795180722891566, "grasp_projected_count": 83, "grasp_visible_count": 73, "tray_visibility": 0.9044117647058824, "tray_projected_count": 136, "tray_visible_count": 123}, "over_shoulder_left": {"grasp_visibility": 0.7, "grasp_projected_count": 90, "grasp_visible_count": 63, "tray_visibility": 0.5523809523809524, "tray_projected_count": 105, "tray_visible_count": 58}, "over_shoulder_right": {"grasp_visibility": 0.5333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 48, "tray_visibility": 0.5416666666666666, "tray_projected_count": 72, "tray_visible_count": 39}}}, "p_pre": {"tray_grasped_left": false, "source": "strict", "best_goal_index": 1, "num_goal_poses": 3, "source_strict": true, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.32781040497889175, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [0.3652357542392092, 0.024538486473800622, 1.3048386525148554, 0.13763081554765239, 0.6316259374796245, 0.7470575737203561, 0.1549561720672272], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.3852357542392092, 0.024538486473800622, 1.3048386525148554, 0.13763081554765239, 0.6316259374796245, 0.7470575737203561, 0.1549561720672272], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 0.29308950813736623, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0, "door_quality": 0.0, "collision_names": ["tray", "tray_visual"], "bad_collision_names": ["tray", "tray_visual"], "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_min": 0.0, "alignment_max": 0.0, "door_contact_steps": 0, "path_steps": 11}, {"path_found": true, "path_length": 0.29197569788557887, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": 0.0, "door_quality": 0.0, "collision_names": ["tray", "tray_visual"], "bad_collision_names": ["tray", "tray_visual"], "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_min": 0.0, "alignment_max": 0.0, "door_contact_steps": 0, "path_steps": 11}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.3652357542392092, 0.024538486473800622, 1.3048386525148554, 0.13763081554765239, 0.6316259374796245, 0.7470575737203561, 0.1549561720672272], "strict_path_found": true, "strict_length": 0.32781040497889175, "assisted": null, "candidate_score": 1.0, "source": "strict"}]}, "p_ext": {"initial_height": 1.3483282327651978, "final_height": 1.3913133144378662, "already_grasped_start": false, "already_grasped_end": true, "total_length": 4.053471978531235, "num_milestones": 5, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.23193839235266364, "retreat_score": 0.09100106960253221, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.31093704274431194, "reliability": 1.0, "planner_score": 0.6606158825781474, "height_before": 1.3483282327651978, "height_after": 1.3448951244354248}, {"milestone_index": 1, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.09108349235296753, "reliability": 1.0, "planner_score": 0.8856400664396102, "height_before": 1.3448951244354248, "height_after": 1.3317492008209229}, {"milestone_index": 2, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.4589777300510576, "reliability": 1.0, "planner_score": 0.1429438132787146, "height_before": 1.3317492008209229, "height_after": 1.1291226148605347}, {"milestone_index": 3, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.10367173468905, "reliability": 1.0, "planner_score": 0.2295665500883492, "height_before": 1.1291226148605347, "height_after": 1.1600017547607422}, {"milestone_index": 4, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0888019786938474, "reliability": 1.0, "planner_score": 0.23416343398315087, "height_before": 1.1600017547607422, "height_after": 1.3913133144378662}], "score": 1.0}}
+{"frame_index": 298, "state": {"door_angle": 0.3909531831741333, "tray_height": 1.3504225015640259, "tray_grasped_left": false, "left_arm_pose": [0.38438889384269714, 0.06098324432969093, 1.355004906654358, 0.12952828407287598, 0.6953209638595581, 0.6952680945396423, 0.12788125872612], "right_arm_pose": [0.46874964237213135, -0.5103552341461182, 1.085244059562683, -0.6257495284080505, 0.5017296671867371, 0.5806503295898438, 0.13982170820236206], "left_arm_joint_positions": [-0.22874188423156738, 0.04369953274726868, -0.1403469741344452, -1.8455009460449219, 1.5976427793502808, 1.651602029800415, 0.5366820096969604], "right_arm_joint_positions": [0.4338805675506592, -0.04778313636779785, 0.7255942821502686, -2.394196033477783, -0.9962836503982544, 1.4305830001831055, -2.660170555114746], "pregrasp_goal_pose": [0.38370322719436667, 0.01994653966315059, 1.343859971611675, 0.15478868725736653, 0.7456454074183758, 0.6337534174393363, 0.13568343516062623], "pregrasp_position_error": 0.042528706137703126, "pregrasp_orientation_error_deg": 9.600879813972558}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.19594594594594594, "tray_projected_count": 296, "tray_visible_count": 58}, "overhead": {"grasp_visibility": 0.4666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 42, "tray_visibility": 0.47297297297297297, "tray_projected_count": 296, "tray_visible_count": 140}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 84, "grasp_visible_count": 0, "tray_visibility": 0.21739130434782608, "tray_projected_count": 138, "tray_visible_count": 30}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.5047619047619047, "tray_projected_count": 105, "tray_visible_count": 53}, "over_shoulder_right": {"grasp_visibility": 0.11235955056179775, "grasp_projected_count": 89, "grasp_visible_count": 10, "tray_visibility": 0.5652173913043478, "tray_projected_count": 69, "tray_visible_count": 39}}}, "p_pre": {"tray_grasped_left": false, "source": "strict", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": true, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.18295651403198396, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [0.38370322719436667, 0.01994653966315059, 1.343859971611675, 0.15478868725736653, 0.7456454074183758, 0.6337534174393363, 0.13568343516062623], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.38370322719436667, 0.01994653966315059, 1.343859971611675, 0.15478868725736653, 0.7456454074183758, 0.6337534174393363, 0.13568343516062623], "strict_path_found": true, "strict_length": 0.18295651403198396, "assisted": null, "candidate_score": 1.0, "source": "strict"}]}, "p_ext": {"initial_height": 1.3504225015640259, "final_height": 1.4057984352111816, "already_grasped_start": false, "already_grasped_end": true, "total_length": 4.211653146328472, "num_milestones": 5, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.2478560071425414, "retreat_score": 0.08656318137387661, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.18295651403198396, "reliability": 1.0, "planner_score": 0.7835330632041368, "height_before": 1.3504225015640259, "height_after": 1.3504225015640259}, {"milestone_index": 1, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.1054469434752347, "reliability": 1.0, "planner_score": 0.8688403177461393, "height_before": 1.3504225015640259, "height_after": 1.3504225015640259}, {"milestone_index": 2, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.8024448620370253, "reliability": 1.0, "planner_score": 0.0904227109286539, "height_before": 1.3504225015640259, "height_after": 1.1492723226547241}, {"milestone_index": 3, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.035666877848489, "reliability": 1.0, "planner_score": 0.2513549562634013, "height_before": 1.1492723226547241, "height_after": 1.1798607110977173}, {"milestone_index": 4, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0851379489357396, "reliability": 1.0, "planner_score": 0.23531020863378888, "height_before": 1.1798607110977173, "height_after": 1.4057984352111816}], "score": 1.0}}