| { |
| "object_id": "45671", |
| "manipulation_level": 1, |
| "active_joints": [ |
| 0 |
| ], |
| "total_joints": 1, |
| "frames": [ |
| { |
| "frame": 0, |
| "t": 0.0, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.0 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 1, |
| "t": 0.01694915254237288, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.03152242302894592 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 2, |
| "t": 0.03389830508474576, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.06304484605789185 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 3, |
| "t": 0.05084745762711865, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.09456726163625717 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 4, |
| "t": 0.06779661016949153, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.1260896921157837 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 5, |
| "t": 0.0847457627118644, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.15761210024356842 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 6, |
| "t": 0.1016949152542373, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.18913452327251434 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 7, |
| "t": 0.11864406779661017, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.22065694630146027 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 8, |
| "t": 0.13559322033898305, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.2521793842315674 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 9, |
| "t": 0.15254237288135594, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.2837017774581909 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 10, |
| "t": 0.1694915254237288, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.31522420048713684 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 11, |
| "t": 0.1864406779661017, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.34674662351608276 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 12, |
| "t": 0.2033898305084746, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.3782690465450287 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 13, |
| "t": 0.22033898305084745, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.4097914695739746 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 14, |
| "t": 0.23728813559322035, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.44131389260292053 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 15, |
| "t": 0.2542372881355932, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.47283631563186646 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 16, |
| "t": 0.2711864406779661, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.5043587684631348 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 17, |
| "t": 0.288135593220339, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.5358811616897583 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 18, |
| "t": 0.3050847457627119, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.5674035549163818 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 19, |
| "t": 0.3220338983050847, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.5989260077476501 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 20, |
| "t": 0.3389830508474576, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.6304484009742737 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 21, |
| "t": 0.3559322033898305, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.661970853805542 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 22, |
| "t": 0.3728813559322034, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.6934932470321655 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 23, |
| "t": 0.3898305084745763, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.7250156998634338 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 24, |
| "t": 0.4067796610169492, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.7565380930900574 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 25, |
| "t": 0.423728813559322, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.7880605459213257 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 26, |
| "t": 0.4406779661016949, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.8195829391479492 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 27, |
| "t": 0.4576271186440678, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.8511053919792175 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 28, |
| "t": 0.4745762711864407, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.8826277852058411 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 29, |
| "t": 0.4915254237288136, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.9141502380371094 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 30, |
| "t": 0.5084745762711864, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.9456726312637329 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 31, |
| "t": 0.5254237288135594, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 0.9771950840950012 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 32, |
| "t": 0.5423728813559322, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.0087175369262695 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 33, |
| "t": 0.559322033898305, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.040239930152893 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 34, |
| "t": 0.576271186440678, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.0717623233795166 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 35, |
| "t": 0.5932203389830508, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.1032847166061401 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 36, |
| "t": 0.6101694915254238, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.1348071098327637 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 37, |
| "t": 0.6271186440677966, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.1663296222686768 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 38, |
| "t": 0.6440677966101694, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.1978520154953003 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 39, |
| "t": 0.6610169491525424, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.2293744087219238 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 40, |
| "t": 0.6779661016949152, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.2608968019485474 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 41, |
| "t": 0.6949152542372882, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.2924193143844604 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 42, |
| "t": 0.711864406779661, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.323941707611084 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 43, |
| "t": 0.7288135593220338, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.3554641008377075 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 44, |
| "t": 0.7457627118644068, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.386986494064331 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 45, |
| "t": 0.7627118644067796, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.4185090065002441 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 46, |
| "t": 0.7796610169491526, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.4500313997268677 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 47, |
| "t": 0.7966101694915254, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.4815537929534912 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 48, |
| "t": 0.8135593220338984, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.5130761861801147 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 49, |
| "t": 0.8305084745762712, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.5445985794067383 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 50, |
| "t": 0.847457627118644, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.5761210918426514 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 51, |
| "t": 0.864406779661017, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.607643485069275 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 52, |
| "t": 0.8813559322033898, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.6391658782958984 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 53, |
| "t": 0.8983050847457628, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.670688271522522 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 54, |
| "t": 0.9152542372881356, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.702210783958435 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 55, |
| "t": 0.9322033898305084, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.7337331771850586 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 56, |
| "t": 0.9491525423728814, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.7652555704116821 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 57, |
| "t": 0.9661016949152542, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.7967779636383057 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 58, |
| "t": 0.9830508474576272, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.8283004760742188 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| }, |
| { |
| "frame": 59, |
| "t": 1.0, |
| "active_joints": [ |
| 0 |
| ], |
| "joint_positions": [ |
| 1.8598228693008423 |
| ], |
| "cam_pose": [ |
| -2.6485555171966553, |
| 0.27963343262672424, |
| 0.5285656452178955 |
| ], |
| "cam_distance": 2.7152202129364014 |
| } |
| ] |
| } |
