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 ],
 "phases": [
  {
   "name": "APPROACH_PICK",
   "start_idx": 240,
   "end_idx": 290
  },
  {
   "name": "PICK",
   "start_idx": 291,
   "end_idx": 469
  },
  {
   "name": "APPROACH_PLACE",
   "start_idx": 470,
   "end_idx": 512
  },
  {
   "name": "PLACE",
   "start_idx": 513,
   "end_idx": 584
  }
 ],
 "gripper_events": [
  {
   "idx": 355,
   "rel_time_sec": 41.51218032836914,
   "action": "close"
  },
  {
   "idx": 552,
   "rel_time_sec": 64.53983354568481,
   "action": "open"
  }
 ],
 "key_log": [
  {
   "idx": 240,
   "rel_time_sec": 28.115705728530884,
   "key": "1",
   "meaning": "APPROACH_PICK"
  },
  {
   "idx": 291,
   "rel_time_sec": 34.07280111312866,
   "key": "2",
   "meaning": "PICK"
  },
  {
   "idx": 355,
   "rel_time_sec": 41.51218032836914,
   "key": "c",
   "meaning": "gripper_close"
  },
  {
   "idx": 470,
   "rel_time_sec": 55.01110649108887,
   "key": "3",
   "meaning": "APPROACH_PLACE"
  },
  {
   "idx": 513,
   "rel_time_sec": 60.00377702713013,
   "key": "4",
   "meaning": "PLACE"
  },
  {
   "idx": 552,
   "rel_time_sec": 64.53983354568481,
   "key": "o",
   "meaning": "gripper_open"
  }
 ],
 "derived_from": {
  "teach": "drag_v2_20221013_144348.json",
  "replaced": {
   "APPROACH_PICK idx 240-290": [
    -40.69,
    66.09,
    1.49,
    0.61,
    -70.48,
    -29.88
   ],
   "PICK idx 291-469": [
    -40.51,
    79.98,
    -0.43,
    0.43,
    -73.47,
    -29.97
   ]
  },
  "source": "runs/experiments/gamepad_teleop/teleop_20261109_093620/log.jsonl (seq 161 付近の実測・seq 169 の持ち上げ後の実測)",
  "reason": "位置1の教えた PICK が浅かった (183454 で 38.9px, 20261109_093045 で 43.4px)。ゲームパッドで奥までつかむ姿勢を作り直した。箱側の 2 姿勢は元のまま"
 }
}