Hugging Face's logo

Datasets:
AnandMayank
/
QueST-PartNetMobility-SAPIEN

Tasks:
Image Segmentation
Object Detection
Video Classification
Modalities:
Image
Video
Formats:
imagefolder
Size:
10K - 100K
ArXiv:
Tags:
robotics
tracking
articulated-objects
point-tracking
long-horizon
sapien
Libraries:
Datasets
License:
Dataset card Data Studio Files
xet
 Community
AnandMayank commited on
Commit
010219d
·
verified ·
1 Parent(s): 5cc175d

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. 41003/take_00/metadata.json +2291 -0
  2. 41003/take_01/metadata.json +2291 -0
  3. 41003/take_02/metadata.json +2291 -0
  4. 41003/take_03/metadata.json +2291 -0
  5. 41003/take_04/metadata.json +2291 -0
  6. 41003/take_05/metadata.json +2291 -0
  7. 41003/take_06/metadata.json +2291 -0
  8. 41003/take_07/metadata.json +2291 -0
  9. 41003/take_08/metadata.json +2291 -0
  10. 41003/take_09/metadata.json +2291 -0
  11. 45135/take_04/frames/00000.png +3 -0
  12. 45135/take_04/frames/00001.png +3 -0
  13. 45135/take_04/frames/00002.png +3 -0
  14. 45135/take_04/frames/00003.png +3 -0
  15. 45135/take_04/frames/00004.png +3 -0
  16. 45135/take_04/frames/00005.png +3 -0
  17. 45135/take_04/frames/00006.png +3 -0
  18. 45135/take_04/frames/00007.png +3 -0
  19. 45135/take_04/frames/00008.png +3 -0
  20. 45135/take_04/frames/00009.png +3 -0
  21. 45135/take_04/frames/00010.png +3 -0
  22. 45135/take_04/frames/00011.png +3 -0
  23. 45135/take_04/frames/00012.png +3 -0
  24. 45135/take_04/frames/00013.png +3 -0
  25. 45135/take_04/frames/00014.png +3 -0
  26. 45135/take_04/frames/00015.png +3 -0
  27. 45135/take_04/frames/00016.png +3 -0
  28. 45135/take_04/frames/00017.png +3 -0
  29. 45135/take_04/frames/00018.png +3 -0
  30. 45135/take_04/frames/00019.png +3 -0
  31. 45135/take_04/frames/00020.png +3 -0
  32. 45135/take_04/frames/00021.png +3 -0
  33. 45135/take_04/frames/00022.png +3 -0
  34. 45135/take_04/frames/00023.png +3 -0
  35. 45135/take_04/frames/00024.png +3 -0
  36. 45135/take_04/frames/00025.png +3 -0
  37. 45135/take_04/frames/00026.png +3 -0
  38. 45135/take_04/frames/00027.png +3 -0
  39. 45135/take_04/frames/00028.png +3 -0
  40. 45135/take_04/frames/00029.png +3 -0
  41. 45135/take_04/frames/00030.png +3 -0
  42. 45135/take_04/frames/00031.png +3 -0
  43. 45135/take_04/frames/00032.png +3 -0
  44. 45135/take_04/frames/00033.png +3 -0
  45. 45135/take_04/frames/00034.png +3 -0
  46. 45135/take_04/frames/00035.png +3 -0
  47. 45135/take_04/frames/00036.png +3 -0
  48. 45135/take_04/frames/00037.png +3 -0
  49. 45135/take_04/frames/00039.png +3 -0
  50. 45135/take_04/frames/00040.png +3 -0
41003/take_00/metadata.json ADDED
@@ -0,0 +1,2291 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object_id": "41003",
3
+ "manipulation_level": 2,
4
+ "active_joints": [
5
+ 0,
6
+ 3
7
+ ],
8
+ "total_joints": 4,
9
+ "frames": [
10
+ {
11
+ "frame": 0,
12
+ "take": 0,
13
+ "manipulation_level": 2,
14
+ "active_joints": [
15
+ 0,
16
+ 3
17
+ ],
18
+ "joint_positions": [
19
+ 0.0,
20
+ -0.0
21
+ ],
22
+ "cam_pose": [
23
+ -2.458425283432007,
24
+ 0.6468698978424072,
25
+ 0.41667696833610535
26
+ ],
27
+ "cam_distance": 2.5760269165039062
28
+ },
29
+ {
30
+ "frame": 1,
31
+ "take": 0,
32
+ "manipulation_level": 2,
33
+ "active_joints": [
34
+ 0,
35
+ 3
36
+ ],
37
+ "joint_positions": [
38
+ 0.026623666286468506,
39
+ -0.0
40
+ ],
41
+ "cam_pose": [
42
+ -2.458425283432007,
43
+ 0.6468698978424072,
44
+ 0.41667696833610535
45
+ ],
46
+ "cam_distance": 2.5760269165039062
47
+ },
48
+ {
49
+ "frame": 2,
50
+ "take": 0,
51
+ "manipulation_level": 2,
52
+ "active_joints": [
53
+ 0,
54
+ 3
55
+ ],
56
+ "joint_positions": [
57
+ 0.05324733257293701,
58
+ -0.0
59
+ ],
60
+ "cam_pose": [
61
+ -2.458425283432007,
62
+ 0.6468698978424072,
63
+ 0.41667696833610535
64
+ ],
65
+ "cam_distance": 2.5760269165039062
66
+ },
67
+ {
68
+ "frame": 3,
69
+ "take": 0,
70
+ "manipulation_level": 2,
71
+ "active_joints": [
72
+ 0,
73
+ 3
74
+ ],
75
+ "joint_positions": [
76
+ 0.07987099885940552,
77
+ -0.0
78
+ ],
79
+ "cam_pose": [
80
+ -2.458425283432007,
81
+ 0.6468698978424072,
82
+ 0.41667696833610535
83
+ ],
84
+ "cam_distance": 2.5760269165039062
85
+ },
86
+ {
87
+ "frame": 4,
88
+ "take": 0,
89
+ "manipulation_level": 2,
90
+ "active_joints": [
91
+ 0,
92
+ 3
93
+ ],
94
+ "joint_positions": [
95
+ 0.10649466514587402,
96
+ -0.0
97
+ ],
98
+ "cam_pose": [
99
+ -2.458425283432007,
100
+ 0.6468698978424072,
101
+ 0.41667696833610535
102
+ ],
103
+ "cam_distance": 2.5760269165039062
104
+ },
105
+ {
106
+ "frame": 5,
107
+ "take": 0,
108
+ "manipulation_level": 2,
109
+ "active_joints": [
110
+ 0,
111
+ 3
112
+ ],
113
+ "joint_positions": [
114
+ 0.13311833143234253,
115
+ -0.0
116
+ ],
117
+ "cam_pose": [
118
+ -2.458425283432007,
119
+ 0.6468698978424072,
120
+ 0.41667696833610535
121
+ ],
122
+ "cam_distance": 2.5760269165039062
123
+ },
124
+ {
125
+ "frame": 6,
126
+ "take": 0,
127
+ "manipulation_level": 2,
128
+ "active_joints": [
129
+ 0,
130
+ 3
131
+ ],
132
+ "joint_positions": [
133
+ 0.15974199771881104,
134
+ -0.0
135
+ ],
136
+ "cam_pose": [
137
+ -2.458425283432007,
138
+ 0.6468698978424072,
139
+ 0.41667696833610535
140
+ ],
141
+ "cam_distance": 2.5760269165039062
142
+ },
143
+ {
144
+ "frame": 7,
145
+ "take": 0,
146
+ "manipulation_level": 2,
147
+ "active_joints": [
148
+ 0,
149
+ 3
150
+ ],
151
+ "joint_positions": [
152
+ 0.18636566400527954,
153
+ -0.0
154
+ ],
155
+ "cam_pose": [
156
+ -2.458425283432007,
157
+ 0.6468698978424072,
158
+ 0.41667696833610535
159
+ ],
160
+ "cam_distance": 2.5760269165039062
161
+ },
162
+ {
163
+ "frame": 8,
164
+ "take": 0,
165
+ "manipulation_level": 2,
166
+ "active_joints": [
167
+ 0,
168
+ 3
169
+ ],
170
+ "joint_positions": [
171
+ 0.21298933029174805,
172
+ -0.0
173
+ ],
174
+ "cam_pose": [
175
+ -2.458425283432007,
176
+ 0.6468698978424072,
177
+ 0.41667696833610535
178
+ ],
179
+ "cam_distance": 2.5760269165039062
180
+ },
181
+ {
182
+ "frame": 9,
183
+ "take": 0,
184
+ "manipulation_level": 2,
185
+ "active_joints": [
186
+ 0,
187
+ 3
188
+ ],
189
+ "joint_positions": [
190
+ 0.23961299657821655,
191
+ -0.0
192
+ ],
193
+ "cam_pose": [
194
+ -2.458425283432007,
195
+ 0.6468698978424072,
196
+ 0.41667696833610535
197
+ ],
198
+ "cam_distance": 2.5760269165039062
199
+ },
200
+ {
201
+ "frame": 10,
202
+ "take": 0,
203
+ "manipulation_level": 2,
204
+ "active_joints": [
205
+ 0,
206
+ 3
207
+ ],
208
+ "joint_positions": [
209
+ 0.26623666286468506,
210
+ -0.0
211
+ ],
212
+ "cam_pose": [
213
+ -2.458425283432007,
214
+ 0.6468698978424072,
215
+ 0.41667696833610535
216
+ ],
217
+ "cam_distance": 2.5760269165039062
218
+ },
219
+ {
220
+ "frame": 11,
221
+ "take": 0,
222
+ "manipulation_level": 2,
223
+ "active_joints": [
224
+ 0,
225
+ 3
226
+ ],
227
+ "joint_positions": [
228
+ 0.29286032915115356,
229
+ -0.0
230
+ ],
231
+ "cam_pose": [
232
+ -2.458425283432007,
233
+ 0.6468698978424072,
234
+ 0.41667696833610535
235
+ ],
236
+ "cam_distance": 2.5760269165039062
237
+ },
238
+ {
239
+ "frame": 12,
240
+ "take": 0,
241
+ "manipulation_level": 2,
242
+ "active_joints": [
243
+ 0,
244
+ 3
245
+ ],
246
+ "joint_positions": [
247
+ 0.31948399543762207,
248
+ -0.0
249
+ ],
250
+ "cam_pose": [
251
+ -2.458425283432007,
252
+ 0.6468698978424072,
253
+ 0.41667696833610535
254
+ ],
255
+ "cam_distance": 2.5760269165039062
256
+ },
257
+ {
258
+ "frame": 13,
259
+ "take": 0,
260
+ "manipulation_level": 2,
261
+ "active_joints": [
262
+ 0,
263
+ 3
264
+ ],
265
+ "joint_positions": [
266
+ 0.3461076617240906,
267
+ -0.0
268
+ ],
269
+ "cam_pose": [
270
+ -2.458425283432007,
271
+ 0.6468698978424072,
272
+ 0.41667696833610535
273
+ ],
274
+ "cam_distance": 2.5760269165039062
275
+ },
276
+ {
277
+ "frame": 14,
278
+ "take": 0,
279
+ "manipulation_level": 2,
280
+ "active_joints": [
281
+ 0,
282
+ 3
283
+ ],
284
+ "joint_positions": [
285
+ 0.3727313280105591,
286
+ -0.0
287
+ ],
288
+ "cam_pose": [
289
+ -2.458425283432007,
290
+ 0.6468698978424072,
291
+ 0.41667696833610535
292
+ ],
293
+ "cam_distance": 2.5760269165039062
294
+ },
295
+ {
296
+ "frame": 15,
297
+ "take": 0,
298
+ "manipulation_level": 2,
299
+ "active_joints": [
300
+ 0,
301
+ 3
302
+ ],
303
+ "joint_positions": [
304
+ 0.3993549942970276,
305
+ -0.0
306
+ ],
307
+ "cam_pose": [
308
+ -2.458425283432007,
309
+ 0.6468698978424072,
310
+ 0.41667696833610535
311
+ ],
312
+ "cam_distance": 2.5760269165039062
313
+ },
314
+ {
315
+ "frame": 16,
316
+ "take": 0,
317
+ "manipulation_level": 2,
318
+ "active_joints": [
319
+ 0,
320
+ 3
321
+ ],
322
+ "joint_positions": [
323
+ 0.4259786605834961,
324
+ -0.0
325
+ ],
326
+ "cam_pose": [
327
+ -2.458425283432007,
328
+ 0.6468698978424072,
329
+ 0.41667696833610535
330
+ ],
331
+ "cam_distance": 2.5760269165039062
332
+ },
333
+ {
334
+ "frame": 17,
335
+ "take": 0,
336
+ "manipulation_level": 2,
337
+ "active_joints": [
338
+ 0,
339
+ 3
340
+ ],
341
+ "joint_positions": [
342
+ 0.4526023268699646,
343
+ -0.0
344
+ ],
345
+ "cam_pose": [
346
+ -2.458425283432007,
347
+ 0.6468698978424072,
348
+ 0.41667696833610535
349
+ ],
350
+ "cam_distance": 2.5760269165039062
351
+ },
352
+ {
353
+ "frame": 18,
354
+ "take": 0,
355
+ "manipulation_level": 2,
356
+ "active_joints": [
357
+ 0,
358
+ 3
359
+ ],
360
+ "joint_positions": [
361
+ 0.4792259931564331,
362
+ -0.0
363
+ ],
364
+ "cam_pose": [
365
+ -2.458425283432007,
366
+ 0.6468698978424072,
367
+ 0.41667696833610535
368
+ ],
369
+ "cam_distance": 2.5760269165039062
370
+ },
371
+ {
372
+ "frame": 19,
373
+ "take": 0,
374
+ "manipulation_level": 2,
375
+ "active_joints": [
376
+ 0,
377
+ 3
378
+ ],
379
+ "joint_positions": [
380
+ 0.5058496594429016,
381
+ -0.0
382
+ ],
383
+ "cam_pose": [
384
+ -2.458425283432007,
385
+ 0.6468698978424072,
386
+ 0.41667696833610535
387
+ ],
388
+ "cam_distance": 2.5760269165039062
389
+ },
390
+ {
391
+ "frame": 20,
392
+ "take": 0,
393
+ "manipulation_level": 2,
394
+ "active_joints": [
395
+ 0,
396
+ 3
397
+ ],
398
+ "joint_positions": [
399
+ 0.5324733257293701,
400
+ -0.0
401
+ ],
402
+ "cam_pose": [
403
+ -2.458425283432007,
404
+ 0.6468698978424072,
405
+ 0.41667696833610535
406
+ ],
407
+ "cam_distance": 2.5760269165039062
408
+ },
409
+ {
410
+ "frame": 21,
411
+ "take": 0,
412
+ "manipulation_level": 2,
413
+ "active_joints": [
414
+ 0,
415
+ 3
416
+ ],
417
+ "joint_positions": [
418
+ 0.5590969920158386,
419
+ -0.0
420
+ ],
421
+ "cam_pose": [
422
+ -2.458425283432007,
423
+ 0.6468698978424072,
424
+ 0.41667696833610535
425
+ ],
426
+ "cam_distance": 2.5760269165039062
427
+ },
428
+ {
429
+ "frame": 22,
430
+ "take": 0,
431
+ "manipulation_level": 2,
432
+ "active_joints": [
433
+ 0,
434
+ 3
435
+ ],
436
+ "joint_positions": [
437
+ 0.5857206583023071,
438
+ -0.0
439
+ ],
440
+ "cam_pose": [
441
+ -2.458425283432007,
442
+ 0.6468698978424072,
443
+ 0.41667696833610535
444
+ ],
445
+ "cam_distance": 2.5760269165039062
446
+ },
447
+ {
448
+ "frame": 23,
449
+ "take": 0,
450
+ "manipulation_level": 2,
451
+ "active_joints": [
452
+ 0,
453
+ 3
454
+ ],
455
+ "joint_positions": [
456
+ 0.6123443245887756,
457
+ -0.0
458
+ ],
459
+ "cam_pose": [
460
+ -2.458425283432007,
461
+ 0.6468698978424072,
462
+ 0.41667696833610535
463
+ ],
464
+ "cam_distance": 2.5760269165039062
465
+ },
466
+ {
467
+ "frame": 24,
468
+ "take": 0,
469
+ "manipulation_level": 2,
470
+ "active_joints": [
471
+ 0,
472
+ 3
473
+ ],
474
+ "joint_positions": [
475
+ 0.6389679908752441,
476
+ -0.0
477
+ ],
478
+ "cam_pose": [
479
+ -2.458425283432007,
480
+ 0.6468698978424072,
481
+ 0.41667696833610535
482
+ ],
483
+ "cam_distance": 2.5760269165039062
484
+ },
485
+ {
486
+ "frame": 25,
487
+ "take": 0,
488
+ "manipulation_level": 2,
489
+ "active_joints": [
490
+ 0,
491
+ 3
492
+ ],
493
+ "joint_positions": [
494
+ 0.6655916571617126,
495
+ -0.0
496
+ ],
497
+ "cam_pose": [
498
+ -2.458425283432007,
499
+ 0.6468698978424072,
500
+ 0.41667696833610535
501
+ ],
502
+ "cam_distance": 2.5760269165039062
503
+ },
504
+ {
505
+ "frame": 26,
506
+ "take": 0,
507
+ "manipulation_level": 2,
508
+ "active_joints": [
509
+ 0,
510
+ 3
511
+ ],
512
+ "joint_positions": [
513
+ 0.6922153234481812,
514
+ -0.0
515
+ ],
516
+ "cam_pose": [
517
+ -2.458425283432007,
518
+ 0.6468698978424072,
519
+ 0.41667696833610535
520
+ ],
521
+ "cam_distance": 2.5760269165039062
522
+ },
523
+ {
524
+ "frame": 27,
525
+ "take": 0,
526
+ "manipulation_level": 2,
527
+ "active_joints": [
528
+ 0,
529
+ 3
530
+ ],
531
+ "joint_positions": [
532
+ 0.7188389897346497,
533
+ -0.0
534
+ ],
535
+ "cam_pose": [
536
+ -2.458425283432007,
537
+ 0.6468698978424072,
538
+ 0.41667696833610535
539
+ ],
540
+ "cam_distance": 2.5760269165039062
541
+ },
542
+ {
543
+ "frame": 28,
544
+ "take": 0,
545
+ "manipulation_level": 2,
546
+ "active_joints": [
547
+ 0,
548
+ 3
549
+ ],
550
+ "joint_positions": [
551
+ 0.7454626560211182,
552
+ -0.0
553
+ ],
554
+ "cam_pose": [
555
+ -2.458425283432007,
556
+ 0.6468698978424072,
557
+ 0.41667696833610535
558
+ ],
559
+ "cam_distance": 2.5760269165039062
560
+ },
561
+ {
562
+ "frame": 29,
563
+ "take": 0,
564
+ "manipulation_level": 2,
565
+ "active_joints": [
566
+ 0,
567
+ 3
568
+ ],
569
+ "joint_positions": [
570
+ 0.7720863223075867,
571
+ -0.0
572
+ ],
573
+ "cam_pose": [
574
+ -2.458425283432007,
575
+ 0.6468698978424072,
576
+ 0.41667696833610535
577
+ ],
578
+ "cam_distance": 2.5760269165039062
579
+ },
580
+ {
581
+ "frame": 30,
582
+ "take": 0,
583
+ "manipulation_level": 2,
584
+ "active_joints": [
585
+ 0,
586
+ 3
587
+ ],
588
+ "joint_positions": [
589
+ 0.7987099885940552,
590
+ -0.0
591
+ ],
592
+ "cam_pose": [
593
+ -2.458425283432007,
594
+ 0.6468698978424072,
595
+ 0.41667696833610535
596
+ ],
597
+ "cam_distance": 2.5760269165039062
598
+ },
599
+ {
600
+ "frame": 31,
601
+ "take": 0,
602
+ "manipulation_level": 2,
603
+ "active_joints": [
604
+ 0,
605
+ 3
606
+ ],
607
+ "joint_positions": [
608
+ 0.8253336548805237,
609
+ -0.0
610
+ ],
611
+ "cam_pose": [
612
+ -2.458425283432007,
613
+ 0.6468698978424072,
614
+ 0.41667696833610535
615
+ ],
616
+ "cam_distance": 2.5760269165039062
617
+ },
618
+ {
619
+ "frame": 32,
620
+ "take": 0,
621
+ "manipulation_level": 2,
622
+ "active_joints": [
623
+ 0,
624
+ 3
625
+ ],
626
+ "joint_positions": [
627
+ 0.8519573211669922,
628
+ -0.0
629
+ ],
630
+ "cam_pose": [
631
+ -2.458425283432007,
632
+ 0.6468698978424072,
633
+ 0.41667696833610535
634
+ ],
635
+ "cam_distance": 2.5760269165039062
636
+ },
637
+ {
638
+ "frame": 33,
639
+ "take": 0,
640
+ "manipulation_level": 2,
641
+ "active_joints": [
642
+ 0,
643
+ 3
644
+ ],
645
+ "joint_positions": [
646
+ 0.8785809874534607,
647
+ -0.0
648
+ ],
649
+ "cam_pose": [
650
+ -2.458425283432007,
651
+ 0.6468698978424072,
652
+ 0.41667696833610535
653
+ ],
654
+ "cam_distance": 2.5760269165039062
655
+ },
656
+ {
657
+ "frame": 34,
658
+ "take": 0,
659
+ "manipulation_level": 2,
660
+ "active_joints": [
661
+ 0,
662
+ 3
663
+ ],
664
+ "joint_positions": [
665
+ 0.9052046537399292,
666
+ -0.0
667
+ ],
668
+ "cam_pose": [
669
+ -2.458425283432007,
670
+ 0.6468698978424072,
671
+ 0.41667696833610535
672
+ ],
673
+ "cam_distance": 2.5760269165039062
674
+ },
675
+ {
676
+ "frame": 35,
677
+ "take": 0,
678
+ "manipulation_level": 2,
679
+ "active_joints": [
680
+ 0,
681
+ 3
682
+ ],
683
+ "joint_positions": [
684
+ 0.9318283200263977,
685
+ -0.0
686
+ ],
687
+ "cam_pose": [
688
+ -2.458425283432007,
689
+ 0.6468698978424072,
690
+ 0.41667696833610535
691
+ ],
692
+ "cam_distance": 2.5760269165039062
693
+ },
694
+ {
695
+ "frame": 36,
696
+ "take": 0,
697
+ "manipulation_level": 2,
698
+ "active_joints": [
699
+ 0,
700
+ 3
701
+ ],
702
+ "joint_positions": [
703
+ 0.9584519863128662,
704
+ -0.0
705
+ ],
706
+ "cam_pose": [
707
+ -2.458425283432007,
708
+ 0.6468698978424072,
709
+ 0.41667696833610535
710
+ ],
711
+ "cam_distance": 2.5760269165039062
712
+ },
713
+ {
714
+ "frame": 37,
715
+ "take": 0,
716
+ "manipulation_level": 2,
717
+ "active_joints": [
718
+ 0,
719
+ 3
720
+ ],
721
+ "joint_positions": [
722
+ 0.9850756525993347,
723
+ -0.0
724
+ ],
725
+ "cam_pose": [
726
+ -2.458425283432007,
727
+ 0.6468698978424072,
728
+ 0.41667696833610535
729
+ ],
730
+ "cam_distance": 2.5760269165039062
731
+ },
732
+ {
733
+ "frame": 38,
734
+ "take": 0,
735
+ "manipulation_level": 2,
736
+ "active_joints": [
737
+ 0,
738
+ 3
739
+ ],
740
+ "joint_positions": [
741
+ 1.0116993188858032,
742
+ -0.0
743
+ ],
744
+ "cam_pose": [
745
+ -2.458425283432007,
746
+ 0.6468698978424072,
747
+ 0.41667696833610535
748
+ ],
749
+ "cam_distance": 2.5760269165039062
750
+ },
751
+ {
752
+ "frame": 39,
753
+ "take": 0,
754
+ "manipulation_level": 2,
755
+ "active_joints": [
756
+ 0,
757
+ 3
758
+ ],
759
+ "joint_positions": [
760
+ 1.0383230447769165,
761
+ -0.0
762
+ ],
763
+ "cam_pose": [
764
+ -2.458425283432007,
765
+ 0.6468698978424072,
766
+ 0.41667696833610535
767
+ ],
768
+ "cam_distance": 2.5760269165039062
769
+ },
770
+ {
771
+ "frame": 40,
772
+ "take": 0,
773
+ "manipulation_level": 2,
774
+ "active_joints": [
775
+ 0,
776
+ 3
777
+ ],
778
+ "joint_positions": [
779
+ 1.0649466514587402,
780
+ -0.0
781
+ ],
782
+ "cam_pose": [
783
+ -2.458425283432007,
784
+ 0.6468698978424072,
785
+ 0.41667696833610535
786
+ ],
787
+ "cam_distance": 2.5760269165039062
788
+ },
789
+ {
790
+ "frame": 41,
791
+ "take": 0,
792
+ "manipulation_level": 2,
793
+ "active_joints": [
794
+ 0,
795
+ 3
796
+ ],
797
+ "joint_positions": [
798
+ 1.0915703773498535,
799
+ -0.0
800
+ ],
801
+ "cam_pose": [
802
+ -2.458425283432007,
803
+ 0.6468698978424072,
804
+ 0.41667696833610535
805
+ ],
806
+ "cam_distance": 2.5760269165039062
807
+ },
808
+ {
809
+ "frame": 42,
810
+ "take": 0,
811
+ "manipulation_level": 2,
812
+ "active_joints": [
813
+ 0,
814
+ 3
815
+ ],
816
+ "joint_positions": [
817
+ 1.1181939840316772,
818
+ -0.0
819
+ ],
820
+ "cam_pose": [
821
+ -2.458425283432007,
822
+ 0.6468698978424072,
823
+ 0.41667696833610535
824
+ ],
825
+ "cam_distance": 2.5760269165039062
826
+ },
827
+ {
828
+ "frame": 43,
829
+ "take": 0,
830
+ "manipulation_level": 2,
831
+ "active_joints": [
832
+ 0,
833
+ 3
834
+ ],
835
+ "joint_positions": [
836
+ 1.1448177099227905,
837
+ -0.0
838
+ ],
839
+ "cam_pose": [
840
+ -2.458425283432007,
841
+ 0.6468698978424072,
842
+ 0.41667696833610535
843
+ ],
844
+ "cam_distance": 2.5760269165039062
845
+ },
846
+ {
847
+ "frame": 44,
848
+ "take": 0,
849
+ "manipulation_level": 2,
850
+ "active_joints": [
851
+ 0,
852
+ 3
853
+ ],
854
+ "joint_positions": [
855
+ 1.1714413166046143,
856
+ -0.0
857
+ ],
858
+ "cam_pose": [
859
+ -2.458425283432007,
860
+ 0.6468698978424072,
861
+ 0.41667696833610535
862
+ ],
863
+ "cam_distance": 2.5760269165039062
864
+ },
865
+ {
866
+ "frame": 45,
867
+ "take": 0,
868
+ "manipulation_level": 2,
869
+ "active_joints": [
870
+ 0,
871
+ 3
872
+ ],
873
+ "joint_positions": [
874
+ 1.1980650424957275,
875
+ -0.0
876
+ ],
877
+ "cam_pose": [
878
+ -2.458425283432007,
879
+ 0.6468698978424072,
880
+ 0.41667696833610535
881
+ ],
882
+ "cam_distance": 2.5760269165039062
883
+ },
884
+ {
885
+ "frame": 46,
886
+ "take": 0,
887
+ "manipulation_level": 2,
888
+ "active_joints": [
889
+ 0,
890
+ 3
891
+ ],
892
+ "joint_positions": [
893
+ 1.2246886491775513,
894
+ -0.0
895
+ ],
896
+ "cam_pose": [
897
+ -2.458425283432007,
898
+ 0.6468698978424072,
899
+ 0.41667696833610535
900
+ ],
901
+ "cam_distance": 2.5760269165039062
902
+ },
903
+ {
904
+ "frame": 47,
905
+ "take": 0,
906
+ "manipulation_level": 2,
907
+ "active_joints": [
908
+ 0,
909
+ 3
910
+ ],
911
+ "joint_positions": [
912
+ 1.2513123750686646,
913
+ -0.0
914
+ ],
915
+ "cam_pose": [
916
+ -2.458425283432007,
917
+ 0.6468698978424072,
918
+ 0.41667696833610535
919
+ ],
920
+ "cam_distance": 2.5760269165039062
921
+ },
922
+ {
923
+ "frame": 48,
924
+ "take": 0,
925
+ "manipulation_level": 2,
926
+ "active_joints": [
927
+ 0,
928
+ 3
929
+ ],
930
+ "joint_positions": [
931
+ 1.2779359817504883,
932
+ -0.0
933
+ ],
934
+ "cam_pose": [
935
+ -2.458425283432007,
936
+ 0.6468698978424072,
937
+ 0.41667696833610535
938
+ ],
939
+ "cam_distance": 2.5760269165039062
940
+ },
941
+ {
942
+ "frame": 49,
943
+ "take": 0,
944
+ "manipulation_level": 2,
945
+ "active_joints": [
946
+ 0,
947
+ 3
948
+ ],
949
+ "joint_positions": [
950
+ 1.3045597076416016,
951
+ -0.0
952
+ ],
953
+ "cam_pose": [
954
+ -2.458425283432007,
955
+ 0.6468698978424072,
956
+ 0.41667696833610535
957
+ ],
958
+ "cam_distance": 2.5760269165039062
959
+ },
960
+ {
961
+ "frame": 50,
962
+ "take": 0,
963
+ "manipulation_level": 2,
964
+ "active_joints": [
965
+ 0,
966
+ 3
967
+ ],
968
+ "joint_positions": [
969
+ 1.3311833143234253,
970
+ -0.0
971
+ ],
972
+ "cam_pose": [
973
+ -2.458425283432007,
974
+ 0.6468698978424072,
975
+ 0.41667696833610535
976
+ ],
977
+ "cam_distance": 2.5760269165039062
978
+ },
979
+ {
980
+ "frame": 51,
981
+ "take": 0,
982
+ "manipulation_level": 2,
983
+ "active_joints": [
984
+ 0,
985
+ 3
986
+ ],
987
+ "joint_positions": [
988
+ 1.3578070402145386,
989
+ -0.0
990
+ ],
991
+ "cam_pose": [
992
+ -2.458425283432007,
993
+ 0.6468698978424072,
994
+ 0.41667696833610535
995
+ ],
996
+ "cam_distance": 2.5760269165039062
997
+ },
998
+ {
999
+ "frame": 52,
1000
+ "take": 0,
1001
+ "manipulation_level": 2,
1002
+ "active_joints": [
1003
+ 0,
1004
+ 3
1005
+ ],
1006
+ "joint_positions": [
1007
+ 1.3844306468963623,
1008
+ -0.0
1009
+ ],
1010
+ "cam_pose": [
1011
+ -2.458425283432007,
1012
+ 0.6468698978424072,
1013
+ 0.41667696833610535
1014
+ ],
1015
+ "cam_distance": 2.5760269165039062
1016
+ },
1017
+ {
1018
+ "frame": 53,
1019
+ "take": 0,
1020
+ "manipulation_level": 2,
1021
+ "active_joints": [
1022
+ 0,
1023
+ 3
1024
+ ],
1025
+ "joint_positions": [
1026
+ 1.4110543727874756,
1027
+ -0.0
1028
+ ],
1029
+ "cam_pose": [
1030
+ -2.458425283432007,
1031
+ 0.6468698978424072,
1032
+ 0.41667696833610535
1033
+ ],
1034
+ "cam_distance": 2.5760269165039062
1035
+ },
1036
+ {
1037
+ "frame": 54,
1038
+ "take": 0,
1039
+ "manipulation_level": 2,
1040
+ "active_joints": [
1041
+ 0,
1042
+ 3
1043
+ ],
1044
+ "joint_positions": [
1045
+ 1.4376779794692993,
1046
+ -0.0
1047
+ ],
1048
+ "cam_pose": [
1049
+ -2.458425283432007,
1050
+ 0.6468698978424072,
1051
+ 0.41667696833610535
1052
+ ],
1053
+ "cam_distance": 2.5760269165039062
1054
+ },
1055
+ {
1056
+ "frame": 55,
1057
+ "take": 0,
1058
+ "manipulation_level": 2,
1059
+ "active_joints": [
1060
+ 0,
1061
+ 3
1062
+ ],
1063
+ "joint_positions": [
1064
+ 1.4643017053604126,
1065
+ -0.0
1066
+ ],
1067
+ "cam_pose": [
1068
+ -2.458425283432007,
1069
+ 0.6468698978424072,
1070
+ 0.41667696833610535
1071
+ ],
1072
+ "cam_distance": 2.5760269165039062
1073
+ },
1074
+ {
1075
+ "frame": 56,
1076
+ "take": 0,
1077
+ "manipulation_level": 2,
1078
+ "active_joints": [
1079
+ 0,
1080
+ 3
1081
+ ],
1082
+ "joint_positions": [
1083
+ 1.4909253120422363,
1084
+ -0.0
1085
+ ],
1086
+ "cam_pose": [
1087
+ -2.458425283432007,
1088
+ 0.6468698978424072,
1089
+ 0.41667696833610535
1090
+ ],
1091
+ "cam_distance": 2.5760269165039062
1092
+ },
1093
+ {
1094
+ "frame": 57,
1095
+ "take": 0,
1096
+ "manipulation_level": 2,
1097
+ "active_joints": [
1098
+ 0,
1099
+ 3
1100
+ ],
1101
+ "joint_positions": [
1102
+ 1.5175490379333496,
1103
+ -0.0
1104
+ ],
1105
+ "cam_pose": [
1106
+ -2.458425283432007,
1107
+ 0.6468698978424072,
1108
+ 0.41667696833610535
1109
+ ],
1110
+ "cam_distance": 2.5760269165039062
1111
+ },
1112
+ {
1113
+ "frame": 58,
1114
+ "take": 0,
1115
+ "manipulation_level": 2,
1116
+ "active_joints": [
1117
+ 0,
1118
+ 3
1119
+ ],
1120
+ "joint_positions": [
1121
+ 1.5441726446151733,
1122
+ -0.0
1123
+ ],
1124
+ "cam_pose": [
1125
+ -2.458425283432007,
1126
+ 0.6468698978424072,
1127
+ 0.41667696833610535
1128
+ ],
1129
+ "cam_distance": 2.5760269165039062
1130
+ },
1131
+ {
1132
+ "frame": 59,
1133
+ "take": 0,
1134
+ "manipulation_level": 2,
1135
+ "active_joints": [
1136
+ 0,
1137
+ 3
1138
+ ],
1139
+ "joint_positions": [
1140
+ 1.5707963705062866,
1141
+ -0.0
1142
+ ],
1143
+ "cam_pose": [
1144
+ -2.458425283432007,
1145
+ 0.6468698978424072,
1146
+ 0.41667696833610535
1147
+ ],
1148
+ "cam_distance": 2.5760269165039062
1149
+ },
1150
+ {
1151
+ "frame": 60,
1152
+ "take": 0,
1153
+ "manipulation_level": 2,
1154
+ "active_joints": [
1155
+ 0,
1156
+ 3
1157
+ ],
1158
+ "joint_positions": [
1159
+ -0.0,
1160
+ 0.0
1161
+ ],
1162
+ "cam_pose": [
1163
+ -2.458425283432007,
1164
+ 0.6468698978424072,
1165
+ 0.41667696833610535
1166
+ ],
1167
+ "cam_distance": 2.5760269165039062
1168
+ },
1169
+ {
1170
+ "frame": 61,
1171
+ "take": 0,
1172
+ "manipulation_level": 2,
1173
+ "active_joints": [
1174
+ 0,
1175
+ 3
1176
+ ],
1177
+ "joint_positions": [
1178
+ -0.0,
1179
+ 0.026623666286468506
1180
+ ],
1181
+ "cam_pose": [
1182
+ -2.458425283432007,
1183
+ 0.6468698978424072,
1184
+ 0.41667696833610535
1185
+ ],
1186
+ "cam_distance": 2.5760269165039062
1187
+ },
1188
+ {
1189
+ "frame": 62,
1190
+ "take": 0,
1191
+ "manipulation_level": 2,
1192
+ "active_joints": [
1193
+ 0,
1194
+ 3
1195
+ ],
1196
+ "joint_positions": [
1197
+ -0.0,
1198
+ 0.05324733257293701
1199
+ ],
1200
+ "cam_pose": [
1201
+ -2.458425283432007,
1202
+ 0.6468698978424072,
1203
+ 0.41667696833610535
1204
+ ],
1205
+ "cam_distance": 2.5760269165039062
1206
+ },
1207
+ {
1208
+ "frame": 63,
1209
+ "take": 0,
1210
+ "manipulation_level": 2,
1211
+ "active_joints": [
1212
+ 0,
1213
+ 3
1214
+ ],
1215
+ "joint_positions": [
1216
+ -0.0,
1217
+ 0.07987099885940552
1218
+ ],
1219
+ "cam_pose": [
1220
+ -2.458425283432007,
1221
+ 0.6468698978424072,
1222
+ 0.41667696833610535
1223
+ ],
1224
+ "cam_distance": 2.5760269165039062
1225
+ },
1226
+ {
1227
+ "frame": 64,
1228
+ "take": 0,
1229
+ "manipulation_level": 2,
1230
+ "active_joints": [
1231
+ 0,
1232
+ 3
1233
+ ],
1234
+ "joint_positions": [
1235
+ -0.0,
1236
+ 0.10649466514587402
1237
+ ],
1238
+ "cam_pose": [
1239
+ -2.458425283432007,
1240
+ 0.6468698978424072,
1241
+ 0.41667696833610535
1242
+ ],
1243
+ "cam_distance": 2.5760269165039062
1244
+ },
1245
+ {
1246
+ "frame": 65,
1247
+ "take": 0,
1248
+ "manipulation_level": 2,
1249
+ "active_joints": [
1250
+ 0,
1251
+ 3
1252
+ ],
1253
+ "joint_positions": [
1254
+ -0.0,
1255
+ 0.13311833143234253
1256
+ ],
1257
+ "cam_pose": [
1258
+ -2.458425283432007,
1259
+ 0.6468698978424072,
1260
+ 0.41667696833610535
1261
+ ],
1262
+ "cam_distance": 2.5760269165039062
1263
+ },
1264
+ {
1265
+ "frame": 66,
1266
+ "take": 0,
1267
+ "manipulation_level": 2,
1268
+ "active_joints": [
1269
+ 0,
1270
+ 3
1271
+ ],
1272
+ "joint_positions": [
1273
+ -0.0,
1274
+ 0.15974199771881104
1275
+ ],
1276
+ "cam_pose": [
1277
+ -2.458425283432007,
1278
+ 0.6468698978424072,
1279
+ 0.41667696833610535
1280
+ ],
1281
+ "cam_distance": 2.5760269165039062
1282
+ },
1283
+ {
1284
+ "frame": 67,
1285
+ "take": 0,
1286
+ "manipulation_level": 2,
1287
+ "active_joints": [
1288
+ 0,
1289
+ 3
1290
+ ],
1291
+ "joint_positions": [
1292
+ -0.0,
1293
+ 0.18636566400527954
1294
+ ],
1295
+ "cam_pose": [
1296
+ -2.458425283432007,
1297
+ 0.6468698978424072,
1298
+ 0.41667696833610535
1299
+ ],
1300
+ "cam_distance": 2.5760269165039062
1301
+ },
1302
+ {
1303
+ "frame": 68,
1304
+ "take": 0,
1305
+ "manipulation_level": 2,
1306
+ "active_joints": [
1307
+ 0,
1308
+ 3
1309
+ ],
1310
+ "joint_positions": [
1311
+ -0.0,
1312
+ 0.21298933029174805
1313
+ ],
1314
+ "cam_pose": [
1315
+ -2.458425283432007,
1316
+ 0.6468698978424072,
1317
+ 0.41667696833610535
1318
+ ],
1319
+ "cam_distance": 2.5760269165039062
1320
+ },
1321
+ {
1322
+ "frame": 69,
1323
+ "take": 0,
1324
+ "manipulation_level": 2,
1325
+ "active_joints": [
1326
+ 0,
1327
+ 3
1328
+ ],
1329
+ "joint_positions": [
1330
+ -0.0,
1331
+ 0.23961299657821655
1332
+ ],
1333
+ "cam_pose": [
1334
+ -2.458425283432007,
1335
+ 0.6468698978424072,
1336
+ 0.41667696833610535
1337
+ ],
1338
+ "cam_distance": 2.5760269165039062
1339
+ },
1340
+ {
1341
+ "frame": 70,
1342
+ "take": 0,
1343
+ "manipulation_level": 2,
1344
+ "active_joints": [
1345
+ 0,
1346
+ 3
1347
+ ],
1348
+ "joint_positions": [
1349
+ -0.0,
1350
+ 0.26623666286468506
1351
+ ],
1352
+ "cam_pose": [
1353
+ -2.458425283432007,
1354
+ 0.6468698978424072,
1355
+ 0.41667696833610535
1356
+ ],
1357
+ "cam_distance": 2.5760269165039062
1358
+ },
1359
+ {
1360
+ "frame": 71,
1361
+ "take": 0,
1362
+ "manipulation_level": 2,
1363
+ "active_joints": [
1364
+ 0,
1365
+ 3
1366
+ ],
1367
+ "joint_positions": [
1368
+ -0.0,
1369
+ 0.29286032915115356
1370
+ ],
1371
+ "cam_pose": [
1372
+ -2.458425283432007,
1373
+ 0.6468698978424072,
1374
+ 0.41667696833610535
1375
+ ],
1376
+ "cam_distance": 2.5760269165039062
1377
+ },
1378
+ {
1379
+ "frame": 72,
1380
+ "take": 0,
1381
+ "manipulation_level": 2,
1382
+ "active_joints": [
1383
+ 0,
1384
+ 3
1385
+ ],
1386
+ "joint_positions": [
1387
+ -0.0,
1388
+ 0.31948399543762207
1389
+ ],
1390
+ "cam_pose": [
1391
+ -2.458425283432007,
1392
+ 0.6468698978424072,
1393
+ 0.41667696833610535
1394
+ ],
1395
+ "cam_distance": 2.5760269165039062
1396
+ },
1397
+ {
1398
+ "frame": 73,
1399
+ "take": 0,
1400
+ "manipulation_level": 2,
1401
+ "active_joints": [
1402
+ 0,
1403
+ 3
1404
+ ],
1405
+ "joint_positions": [
1406
+ -0.0,
1407
+ 0.3461076617240906
1408
+ ],
1409
+ "cam_pose": [
1410
+ -2.458425283432007,
1411
+ 0.6468698978424072,
1412
+ 0.41667696833610535
1413
+ ],
1414
+ "cam_distance": 2.5760269165039062
1415
+ },
1416
+ {
1417
+ "frame": 74,
1418
+ "take": 0,
1419
+ "manipulation_level": 2,
1420
+ "active_joints": [
1421
+ 0,
1422
+ 3
1423
+ ],
1424
+ "joint_positions": [
1425
+ -0.0,
1426
+ 0.3727313280105591
1427
+ ],
1428
+ "cam_pose": [
1429
+ -2.458425283432007,
1430
+ 0.6468698978424072,
1431
+ 0.41667696833610535
1432
+ ],
1433
+ "cam_distance": 2.5760269165039062
1434
+ },
1435
+ {
1436
+ "frame": 75,
1437
+ "take": 0,
1438
+ "manipulation_level": 2,
1439
+ "active_joints": [
1440
+ 0,
1441
+ 3
1442
+ ],
1443
+ "joint_positions": [
1444
+ -0.0,
1445
+ 0.3993549942970276
1446
+ ],
1447
+ "cam_pose": [
1448
+ -2.458425283432007,
1449
+ 0.6468698978424072,
1450
+ 0.41667696833610535
1451
+ ],
1452
+ "cam_distance": 2.5760269165039062
1453
+ },
1454
+ {
1455
+ "frame": 76,
1456
+ "take": 0,
1457
+ "manipulation_level": 2,
1458
+ "active_joints": [
1459
+ 0,
1460
+ 3
1461
+ ],
1462
+ "joint_positions": [
1463
+ -0.0,
1464
+ 0.4259786605834961
1465
+ ],
1466
+ "cam_pose": [
1467
+ -2.458425283432007,
1468
+ 0.6468698978424072,
1469
+ 0.41667696833610535
1470
+ ],
1471
+ "cam_distance": 2.5760269165039062
1472
+ },
1473
+ {
1474
+ "frame": 77,
1475
+ "take": 0,
1476
+ "manipulation_level": 2,
1477
+ "active_joints": [
1478
+ 0,
1479
+ 3
1480
+ ],
1481
+ "joint_positions": [
1482
+ -0.0,
1483
+ 0.4526023268699646
1484
+ ],
1485
+ "cam_pose": [
1486
+ -2.458425283432007,
1487
+ 0.6468698978424072,
1488
+ 0.41667696833610535
1489
+ ],
1490
+ "cam_distance": 2.5760269165039062
1491
+ },
1492
+ {
1493
+ "frame": 78,
1494
+ "take": 0,
1495
+ "manipulation_level": 2,
1496
+ "active_joints": [
1497
+ 0,
1498
+ 3
1499
+ ],
1500
+ "joint_positions": [
1501
+ -0.0,
1502
+ 0.4792259931564331
1503
+ ],
1504
+ "cam_pose": [
1505
+ -2.458425283432007,
1506
+ 0.6468698978424072,
1507
+ 0.41667696833610535
1508
+ ],
1509
+ "cam_distance": 2.5760269165039062
1510
+ },
1511
+ {
1512
+ "frame": 79,
1513
+ "take": 0,
1514
+ "manipulation_level": 2,
1515
+ "active_joints": [
1516
+ 0,
1517
+ 3
1518
+ ],
1519
+ "joint_positions": [
1520
+ -0.0,
1521
+ 0.5058496594429016
1522
+ ],
1523
+ "cam_pose": [
1524
+ -2.458425283432007,
1525
+ 0.6468698978424072,
1526
+ 0.41667696833610535
1527
+ ],
1528
+ "cam_distance": 2.5760269165039062
1529
+ },
1530
+ {
1531
+ "frame": 80,
1532
+ "take": 0,
1533
+ "manipulation_level": 2,
1534
+ "active_joints": [
1535
+ 0,
1536
+ 3
1537
+ ],
1538
+ "joint_positions": [
1539
+ -0.0,
1540
+ 0.5324733257293701
1541
+ ],
1542
+ "cam_pose": [
1543
+ -2.458425283432007,
1544
+ 0.6468698978424072,
1545
+ 0.41667696833610535
1546
+ ],
1547
+ "cam_distance": 2.5760269165039062
1548
+ },
1549
+ {
1550
+ "frame": 81,
1551
+ "take": 0,
1552
+ "manipulation_level": 2,
1553
+ "active_joints": [
1554
+ 0,
1555
+ 3
1556
+ ],
1557
+ "joint_positions": [
1558
+ -0.0,
1559
+ 0.5590969920158386
1560
+ ],
1561
+ "cam_pose": [
1562
+ -2.458425283432007,
1563
+ 0.6468698978424072,
1564
+ 0.41667696833610535
1565
+ ],
1566
+ "cam_distance": 2.5760269165039062
1567
+ },
1568
+ {
1569
+ "frame": 82,
1570
+ "take": 0,
1571
+ "manipulation_level": 2,
1572
+ "active_joints": [
1573
+ 0,
1574
+ 3
1575
+ ],
1576
+ "joint_positions": [
1577
+ -0.0,
1578
+ 0.5857206583023071
1579
+ ],
1580
+ "cam_pose": [
1581
+ -2.458425283432007,
1582
+ 0.6468698978424072,
1583
+ 0.41667696833610535
1584
+ ],
1585
+ "cam_distance": 2.5760269165039062
1586
+ },
1587
+ {
1588
+ "frame": 83,
1589
+ "take": 0,
1590
+ "manipulation_level": 2,
1591
+ "active_joints": [
1592
+ 0,
1593
+ 3
1594
+ ],
1595
+ "joint_positions": [
1596
+ -0.0,
1597
+ 0.6123443245887756
1598
+ ],
1599
+ "cam_pose": [
1600
+ -2.458425283432007,
1601
+ 0.6468698978424072,
1602
+ 0.41667696833610535
1603
+ ],
1604
+ "cam_distance": 2.5760269165039062
1605
+ },
1606
+ {
1607
+ "frame": 84,
1608
+ "take": 0,
1609
+ "manipulation_level": 2,
1610
+ "active_joints": [
1611
+ 0,
1612
+ 3
1613
+ ],
1614
+ "joint_positions": [
1615
+ -0.0,
1616
+ 0.6389679908752441
1617
+ ],
1618
+ "cam_pose": [
1619
+ -2.458425283432007,
1620
+ 0.6468698978424072,
1621
+ 0.41667696833610535
1622
+ ],
1623
+ "cam_distance": 2.5760269165039062
1624
+ },
1625
+ {
1626
+ "frame": 85,
1627
+ "take": 0,
1628
+ "manipulation_level": 2,
1629
+ "active_joints": [
1630
+ 0,
1631
+ 3
1632
+ ],
1633
+ "joint_positions": [
1634
+ -0.0,
1635
+ 0.6655916571617126
1636
+ ],
1637
+ "cam_pose": [
1638
+ -2.458425283432007,
1639
+ 0.6468698978424072,
1640
+ 0.41667696833610535
1641
+ ],
1642
+ "cam_distance": 2.5760269165039062
1643
+ },
1644
+ {
1645
+ "frame": 86,
1646
+ "take": 0,
1647
+ "manipulation_level": 2,
1648
+ "active_joints": [
1649
+ 0,
1650
+ 3
1651
+ ],
1652
+ "joint_positions": [
1653
+ -0.0,
1654
+ 0.6922153234481812
1655
+ ],
1656
+ "cam_pose": [
1657
+ -2.458425283432007,
1658
+ 0.6468698978424072,
1659
+ 0.41667696833610535
1660
+ ],
1661
+ "cam_distance": 2.5760269165039062
1662
+ },
1663
+ {
1664
+ "frame": 87,
1665
+ "take": 0,
1666
+ "manipulation_level": 2,
1667
+ "active_joints": [
1668
+ 0,
1669
+ 3
1670
+ ],
1671
+ "joint_positions": [
1672
+ -0.0,
1673
+ 0.7188389897346497
1674
+ ],
1675
+ "cam_pose": [
1676
+ -2.458425283432007,
1677
+ 0.6468698978424072,
1678
+ 0.41667696833610535
1679
+ ],
1680
+ "cam_distance": 2.5760269165039062
1681
+ },
1682
+ {
1683
+ "frame": 88,
1684
+ "take": 0,
1685
+ "manipulation_level": 2,
1686
+ "active_joints": [
1687
+ 0,
1688
+ 3
1689
+ ],
1690
+ "joint_positions": [
1691
+ -0.0,
1692
+ 0.7454626560211182
1693
+ ],
1694
+ "cam_pose": [
1695
+ -2.458425283432007,
1696
+ 0.6468698978424072,
1697
+ 0.41667696833610535
1698
+ ],
1699
+ "cam_distance": 2.5760269165039062
1700
+ },
1701
+ {
1702
+ "frame": 89,
1703
+ "take": 0,
1704
+ "manipulation_level": 2,
1705
+ "active_joints": [
1706
+ 0,
1707
+ 3
1708
+ ],
1709
+ "joint_positions": [
1710
+ -0.0,
1711
+ 0.7720863223075867
1712
+ ],
1713
+ "cam_pose": [
1714
+ -2.458425283432007,
1715
+ 0.6468698978424072,
1716
+ 0.41667696833610535
1717
+ ],
1718
+ "cam_distance": 2.5760269165039062
1719
+ },
1720
+ {
1721
+ "frame": 90,
1722
+ "take": 0,
1723
+ "manipulation_level": 2,
1724
+ "active_joints": [
1725
+ 0,
1726
+ 3
1727
+ ],
1728
+ "joint_positions": [
1729
+ -0.0,
1730
+ 0.7987099885940552
1731
+ ],
1732
+ "cam_pose": [
1733
+ -2.458425283432007,
1734
+ 0.6468698978424072,
1735
+ 0.41667696833610535
1736
+ ],
1737
+ "cam_distance": 2.5760269165039062
1738
+ },
1739
+ {
1740
+ "frame": 91,
1741
+ "take": 0,
1742
+ "manipulation_level": 2,
1743
+ "active_joints": [
1744
+ 0,
1745
+ 3
1746
+ ],
1747
+ "joint_positions": [
1748
+ -0.0,
1749
+ 0.8253336548805237
1750
+ ],
1751
+ "cam_pose": [
1752
+ -2.458425283432007,
1753
+ 0.6468698978424072,
1754
+ 0.41667696833610535
1755
+ ],
1756
+ "cam_distance": 2.5760269165039062
1757
+ },
1758
+ {
1759
+ "frame": 92,
1760
+ "take": 0,
1761
+ "manipulation_level": 2,
1762
+ "active_joints": [
1763
+ 0,
1764
+ 3
1765
+ ],
1766
+ "joint_positions": [
1767
+ -0.0,
1768
+ 0.8519573211669922
1769
+ ],
1770
+ "cam_pose": [
1771
+ -2.458425283432007,
1772
+ 0.6468698978424072,
1773
+ 0.41667696833610535
1774
+ ],
1775
+ "cam_distance": 2.5760269165039062
1776
+ },
1777
+ {
1778
+ "frame": 93,
1779
+ "take": 0,
1780
+ "manipulation_level": 2,
1781
+ "active_joints": [
1782
+ 0,
1783
+ 3
1784
+ ],
1785
+ "joint_positions": [
1786
+ -0.0,
1787
+ 0.8785809874534607
1788
+ ],
1789
+ "cam_pose": [
1790
+ -2.458425283432007,
1791
+ 0.6468698978424072,
1792
+ 0.41667696833610535
1793
+ ],
1794
+ "cam_distance": 2.5760269165039062
1795
+ },
1796
+ {
1797
+ "frame": 94,
1798
+ "take": 0,
1799
+ "manipulation_level": 2,
1800
+ "active_joints": [
1801
+ 0,
1802
+ 3
1803
+ ],
1804
+ "joint_positions": [
1805
+ -0.0,
1806
+ 0.9052046537399292
1807
+ ],
1808
+ "cam_pose": [
1809
+ -2.458425283432007,
1810
+ 0.6468698978424072,
1811
+ 0.41667696833610535
1812
+ ],
1813
+ "cam_distance": 2.5760269165039062
1814
+ },
1815
+ {
1816
+ "frame": 95,
1817
+ "take": 0,
1818
+ "manipulation_level": 2,
1819
+ "active_joints": [
1820
+ 0,
1821
+ 3
1822
+ ],
1823
+ "joint_positions": [
1824
+ -0.0,
1825
+ 0.9318283200263977
1826
+ ],
1827
+ "cam_pose": [
1828
+ -2.458425283432007,
1829
+ 0.6468698978424072,
1830
+ 0.41667696833610535
1831
+ ],
1832
+ "cam_distance": 2.5760269165039062
1833
+ },
1834
+ {
1835
+ "frame": 96,
1836
+ "take": 0,
1837
+ "manipulation_level": 2,
1838
+ "active_joints": [
1839
+ 0,
1840
+ 3
1841
+ ],
1842
+ "joint_positions": [
1843
+ -0.0,
1844
+ 0.9584519863128662
1845
+ ],
1846
+ "cam_pose": [
1847
+ -2.458425283432007,
1848
+ 0.6468698978424072,
1849
+ 0.41667696833610535
1850
+ ],
1851
+ "cam_distance": 2.5760269165039062
1852
+ },
1853
+ {
1854
+ "frame": 97,
1855
+ "take": 0,
1856
+ "manipulation_level": 2,
1857
+ "active_joints": [
1858
+ 0,
1859
+ 3
1860
+ ],
1861
+ "joint_positions": [
1862
+ -0.0,
1863
+ 0.9850756525993347
1864
+ ],
1865
+ "cam_pose": [
1866
+ -2.458425283432007,
1867
+ 0.6468698978424072,
1868
+ 0.41667696833610535
1869
+ ],
1870
+ "cam_distance": 2.5760269165039062
1871
+ },
1872
+ {
1873
+ "frame": 98,
1874
+ "take": 0,
1875
+ "manipulation_level": 2,
1876
+ "active_joints": [
1877
+ 0,
1878
+ 3
1879
+ ],
1880
+ "joint_positions": [
1881
+ -0.0,
1882
+ 1.0116993188858032
1883
+ ],
1884
+ "cam_pose": [
1885
+ -2.458425283432007,
1886
+ 0.6468698978424072,
1887
+ 0.41667696833610535
1888
+ ],
1889
+ "cam_distance": 2.5760269165039062
1890
+ },
1891
+ {
1892
+ "frame": 99,
1893
+ "take": 0,
1894
+ "manipulation_level": 2,
1895
+ "active_joints": [
1896
+ 0,
1897
+ 3
1898
+ ],
1899
+ "joint_positions": [
1900
+ -0.0,
1901
+ 1.0383230447769165
1902
+ ],
1903
+ "cam_pose": [
1904
+ -2.458425283432007,
1905
+ 0.6468698978424072,
1906
+ 0.41667696833610535
1907
+ ],
1908
+ "cam_distance": 2.5760269165039062
1909
+ },
1910
+ {
1911
+ "frame": 100,
1912
+ "take": 0,
1913
+ "manipulation_level": 2,
1914
+ "active_joints": [
1915
+ 0,
1916
+ 3
1917
+ ],
1918
+ "joint_positions": [
1919
+ -0.0,
1920
+ 1.0649466514587402
1921
+ ],
1922
+ "cam_pose": [
1923
+ -2.458425283432007,
1924
+ 0.6468698978424072,
1925
+ 0.41667696833610535
1926
+ ],
1927
+ "cam_distance": 2.5760269165039062
1928
+ },
1929
+ {
1930
+ "frame": 101,
1931
+ "take": 0,
1932
+ "manipulation_level": 2,
1933
+ "active_joints": [
1934
+ 0,
1935
+ 3
1936
+ ],
1937
+ "joint_positions": [
1938
+ -0.0,
1939
+ 1.0915703773498535
1940
+ ],
1941
+ "cam_pose": [
1942
+ -2.458425283432007,
1943
+ 0.6468698978424072,
1944
+ 0.41667696833610535
1945
+ ],
1946
+ "cam_distance": 2.5760269165039062
1947
+ },
1948
+ {
1949
+ "frame": 102,
1950
+ "take": 0,
1951
+ "manipulation_level": 2,
1952
+ "active_joints": [
1953
+ 0,
1954
+ 3
1955
+ ],
1956
+ "joint_positions": [
1957
+ -0.0,
1958
+ 1.1181939840316772
1959
+ ],
1960
+ "cam_pose": [
1961
+ -2.458425283432007,
1962
+ 0.6468698978424072,
1963
+ 0.41667696833610535
1964
+ ],
1965
+ "cam_distance": 2.5760269165039062
1966
+ },
1967
+ {
1968
+ "frame": 103,
1969
+ "take": 0,
1970
+ "manipulation_level": 2,
1971
+ "active_joints": [
1972
+ 0,
1973
+ 3
1974
+ ],
1975
+ "joint_positions": [
1976
+ -0.0,
1977
+ 1.1448177099227905
1978
+ ],
1979
+ "cam_pose": [
1980
+ -2.458425283432007,
1981
+ 0.6468698978424072,
1982
+ 0.41667696833610535
1983
+ ],
1984
+ "cam_distance": 2.5760269165039062
1985
+ },
1986
+ {
1987
+ "frame": 104,
1988
+ "take": 0,
1989
+ "manipulation_level": 2,
1990
+ "active_joints": [
1991
+ 0,
1992
+ 3
1993
+ ],
1994
+ "joint_positions": [
1995
+ -0.0,
1996
+ 1.1714413166046143
1997
+ ],
1998
+ "cam_pose": [
1999
+ -2.458425283432007,
2000
+ 0.6468698978424072,
2001
+ 0.41667696833610535
2002
+ ],
2003
+ "cam_distance": 2.5760269165039062
2004
+ },
2005
+ {
2006
+ "frame": 105,
2007
+ "take": 0,
2008
+ "manipulation_level": 2,
2009
+ "active_joints": [
2010
+ 0,
2011
+ 3
2012
+ ],
2013
+ "joint_positions": [
2014
+ -0.0,
2015
+ 1.1980650424957275
2016
+ ],
2017
+ "cam_pose": [
2018
+ -2.458425283432007,
2019
+ 0.6468698978424072,
2020
+ 0.41667696833610535
2021
+ ],
2022
+ "cam_distance": 2.5760269165039062
2023
+ },
2024
+ {
2025
+ "frame": 106,
2026
+ "take": 0,
2027
+ "manipulation_level": 2,
2028
+ "active_joints": [
2029
+ 0,
2030
+ 3
2031
+ ],
2032
+ "joint_positions": [
2033
+ -0.0,
2034
+ 1.2246886491775513
2035
+ ],
2036
+ "cam_pose": [
2037
+ -2.458425283432007,
2038
+ 0.6468698978424072,
2039
+ 0.41667696833610535
2040
+ ],
2041
+ "cam_distance": 2.5760269165039062
2042
+ },
2043
+ {
2044
+ "frame": 107,
2045
+ "take": 0,
2046
+ "manipulation_level": 2,
2047
+ "active_joints": [
2048
+ 0,
2049
+ 3
2050
+ ],
2051
+ "joint_positions": [
2052
+ -0.0,
2053
+ 1.2513123750686646
2054
+ ],
2055
+ "cam_pose": [
2056
+ -2.458425283432007,
2057
+ 0.6468698978424072,
2058
+ 0.41667696833610535
2059
+ ],
2060
+ "cam_distance": 2.5760269165039062
2061
+ },
2062
+ {
2063
+ "frame": 108,
2064
+ "take": 0,
2065
+ "manipulation_level": 2,
2066
+ "active_joints": [
2067
+ 0,
2068
+ 3
2069
+ ],
2070
+ "joint_positions": [
2071
+ -0.0,
2072
+ 1.2779359817504883
2073
+ ],
2074
+ "cam_pose": [
2075
+ -2.458425283432007,
2076
+ 0.6468698978424072,
2077
+ 0.41667696833610535
2078
+ ],
2079
+ "cam_distance": 2.5760269165039062
2080
+ },
2081
+ {
2082
+ "frame": 109,
2083
+ "take": 0,
2084
+ "manipulation_level": 2,
2085
+ "active_joints": [
2086
+ 0,
2087
+ 3
2088
+ ],
2089
+ "joint_positions": [
2090
+ -0.0,
2091
+ 1.3045597076416016
2092
+ ],
2093
+ "cam_pose": [
2094
+ -2.458425283432007,
2095
+ 0.6468698978424072,
2096
+ 0.41667696833610535
2097
+ ],
2098
+ "cam_distance": 2.5760269165039062
2099
+ },
2100
+ {
2101
+ "frame": 110,
2102
+ "take": 0,
2103
+ "manipulation_level": 2,
2104
+ "active_joints": [
2105
+ 0,
2106
+ 3
2107
+ ],
2108
+ "joint_positions": [
2109
+ -0.0,
2110
+ 1.3311833143234253
2111
+ ],
2112
+ "cam_pose": [
2113
+ -2.458425283432007,
2114
+ 0.6468698978424072,
2115
+ 0.41667696833610535
2116
+ ],
2117
+ "cam_distance": 2.5760269165039062
2118
+ },
2119
+ {
2120
+ "frame": 111,
2121
+ "take": 0,
2122
+ "manipulation_level": 2,
2123
+ "active_joints": [
2124
+ 0,
2125
+ 3
2126
+ ],
2127
+ "joint_positions": [
2128
+ -0.0,
2129
+ 1.3578070402145386
2130
+ ],
2131
+ "cam_pose": [
2132
+ -2.458425283432007,
2133
+ 0.6468698978424072,
2134
+ 0.41667696833610535
2135
+ ],
2136
+ "cam_distance": 2.5760269165039062
2137
+ },
2138
+ {
2139
+ "frame": 112,
2140
+ "take": 0,
2141
+ "manipulation_level": 2,
2142
+ "active_joints": [
2143
+ 0,
2144
+ 3
2145
+ ],
2146
+ "joint_positions": [
2147
+ -0.0,
2148
+ 1.3844306468963623
2149
+ ],
2150
+ "cam_pose": [
2151
+ -2.458425283432007,
2152
+ 0.6468698978424072,
2153
+ 0.41667696833610535
2154
+ ],
2155
+ "cam_distance": 2.5760269165039062
2156
+ },
2157
+ {
2158
+ "frame": 113,
2159
+ "take": 0,
2160
+ "manipulation_level": 2,
2161
+ "active_joints": [
2162
+ 0,
2163
+ 3
2164
+ ],
2165
+ "joint_positions": [
2166
+ -0.0,
2167
+ 1.4110543727874756
2168
+ ],
2169
+ "cam_pose": [
2170
+ -2.458425283432007,
2171
+ 0.6468698978424072,
2172
+ 0.41667696833610535
2173
+ ],
2174
+ "cam_distance": 2.5760269165039062
2175
+ },
2176
+ {
2177
+ "frame": 114,
2178
+ "take": 0,
2179
+ "manipulation_level": 2,
2180
+ "active_joints": [
2181
+ 0,
2182
+ 3
2183
+ ],
2184
+ "joint_positions": [
2185
+ -0.0,
2186
+ 1.4376779794692993
2187
+ ],
2188
+ "cam_pose": [
2189
+ -2.458425283432007,
2190
+ 0.6468698978424072,
2191
+ 0.41667696833610535
2192
+ ],
2193
+ "cam_distance": 2.5760269165039062
2194
+ },
2195
+ {
2196
+ "frame": 115,
2197
+ "take": 0,
2198
+ "manipulation_level": 2,
2199
+ "active_joints": [
2200
+ 0,
2201
+ 3
2202
+ ],
2203
+ "joint_positions": [
2204
+ -0.0,
2205
+ 1.4643017053604126
2206
+ ],
2207
+ "cam_pose": [
2208
+ -2.458425283432007,
2209
+ 0.6468698978424072,
2210
+ 0.41667696833610535
2211
+ ],
2212
+ "cam_distance": 2.5760269165039062
2213
+ },
2214
+ {
2215
+ "frame": 116,
2216
+ "take": 0,
2217
+ "manipulation_level": 2,
2218
+ "active_joints": [
2219
+ 0,
2220
+ 3
2221
+ ],
2222
+ "joint_positions": [
2223
+ -0.0,
2224
+ 1.4909253120422363
2225
+ ],
2226
+ "cam_pose": [
2227
+ -2.458425283432007,
2228
+ 0.6468698978424072,
2229
+ 0.41667696833610535
2230
+ ],
2231
+ "cam_distance": 2.5760269165039062
2232
+ },
2233
+ {
2234
+ "frame": 117,
2235
+ "take": 0,
2236
+ "manipulation_level": 2,
2237
+ "active_joints": [
2238
+ 0,
2239
+ 3
2240
+ ],
2241
+ "joint_positions": [
2242
+ -0.0,
2243
+ 1.5175490379333496
2244
+ ],
2245
+ "cam_pose": [
2246
+ -2.458425283432007,
2247
+ 0.6468698978424072,
2248
+ 0.41667696833610535
2249
+ ],
2250
+ "cam_distance": 2.5760269165039062
2251
+ },
2252
+ {
2253
+ "frame": 118,
2254
+ "take": 0,
2255
+ "manipulation_level": 2,
2256
+ "active_joints": [
2257
+ 0,
2258
+ 3
2259
+ ],
2260
+ "joint_positions": [
2261
+ -0.0,
2262
+ 1.5441726446151733
2263
+ ],
2264
+ "cam_pose": [
2265
+ -2.458425283432007,
2266
+ 0.6468698978424072,
2267
+ 0.41667696833610535
2268
+ ],
2269
+ "cam_distance": 2.5760269165039062
2270
+ },
2271
+ {
2272
+ "frame": 119,
2273
+ "take": 0,
2274
+ "manipulation_level": 2,
2275
+ "active_joints": [
2276
+ 0,
2277
+ 3
2278
+ ],
2279
+ "joint_positions": [
2280
+ -0.0,
2281
+ 1.5707963705062866
2282
+ ],
2283
+ "cam_pose": [
2284
+ -2.458425283432007,
2285
+ 0.6468698978424072,
2286
+ 0.41667696833610535
2287
+ ],
2288
+ "cam_distance": 2.5760269165039062
2289
+ }
2290
+ ]
2291
+ }
41003/take_01/metadata.json ADDED
@@ -0,0 +1,2291 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object_id": "41003",
3
+ "manipulation_level": 2,
4
+ "active_joints": [
5
+ 0,
6
+ 1
7
+ ],
8
+ "total_joints": 4,
9
+ "frames": [
10
+ {
11
+ "frame": 0,
12
+ "take": 1,
13
+ "manipulation_level": 2,
14
+ "active_joints": [
15
+ 0,
16
+ 1
17
+ ],
18
+ "joint_positions": [
19
+ 0.0,
20
+ -0.0
21
+ ],
22
+ "cam_pose": [
23
+ -2.639387845993042,
24
+ 0.2595023512840271,
25
+ 0.7578942775726318
26
+ ],
27
+ "cam_distance": 2.7582807540893555
28
+ },
29
+ {
30
+ "frame": 1,
31
+ "take": 1,
32
+ "manipulation_level": 2,
33
+ "active_joints": [
34
+ 0,
35
+ 1
36
+ ],
37
+ "joint_positions": [
38
+ 0.026623666286468506,
39
+ -0.0
40
+ ],
41
+ "cam_pose": [
42
+ -2.639387845993042,
43
+ 0.2595023512840271,
44
+ 0.7578942775726318
45
+ ],
46
+ "cam_distance": 2.7582807540893555
47
+ },
48
+ {
49
+ "frame": 2,
50
+ "take": 1,
51
+ "manipulation_level": 2,
52
+ "active_joints": [
53
+ 0,
54
+ 1
55
+ ],
56
+ "joint_positions": [
57
+ 0.05324733257293701,
58
+ -0.0
59
+ ],
60
+ "cam_pose": [
61
+ -2.639387845993042,
62
+ 0.2595023512840271,
63
+ 0.7578942775726318
64
+ ],
65
+ "cam_distance": 2.7582807540893555
66
+ },
67
+ {
68
+ "frame": 3,
69
+ "take": 1,
70
+ "manipulation_level": 2,
71
+ "active_joints": [
72
+ 0,
73
+ 1
74
+ ],
75
+ "joint_positions": [
76
+ 0.07987099885940552,
77
+ -0.0
78
+ ],
79
+ "cam_pose": [
80
+ -2.639387845993042,
81
+ 0.2595023512840271,
82
+ 0.7578942775726318
83
+ ],
84
+ "cam_distance": 2.7582807540893555
85
+ },
86
+ {
87
+ "frame": 4,
88
+ "take": 1,
89
+ "manipulation_level": 2,
90
+ "active_joints": [
91
+ 0,
92
+ 1
93
+ ],
94
+ "joint_positions": [
95
+ 0.10649466514587402,
96
+ -0.0
97
+ ],
98
+ "cam_pose": [
99
+ -2.639387845993042,
100
+ 0.2595023512840271,
101
+ 0.7578942775726318
102
+ ],
103
+ "cam_distance": 2.7582807540893555
104
+ },
105
+ {
106
+ "frame": 5,
107
+ "take": 1,
108
+ "manipulation_level": 2,
109
+ "active_joints": [
110
+ 0,
111
+ 1
112
+ ],
113
+ "joint_positions": [
114
+ 0.13311833143234253,
115
+ -0.0
116
+ ],
117
+ "cam_pose": [
118
+ -2.639387845993042,
119
+ 0.2595023512840271,
120
+ 0.7578942775726318
121
+ ],
122
+ "cam_distance": 2.7582807540893555
123
+ },
124
+ {
125
+ "frame": 6,
126
+ "take": 1,
127
+ "manipulation_level": 2,
128
+ "active_joints": [
129
+ 0,
130
+ 1
131
+ ],
132
+ "joint_positions": [
133
+ 0.15974199771881104,
134
+ -0.0
135
+ ],
136
+ "cam_pose": [
137
+ -2.639387845993042,
138
+ 0.2595023512840271,
139
+ 0.7578942775726318
140
+ ],
141
+ "cam_distance": 2.7582807540893555
142
+ },
143
+ {
144
+ "frame": 7,
145
+ "take": 1,
146
+ "manipulation_level": 2,
147
+ "active_joints": [
148
+ 0,
149
+ 1
150
+ ],
151
+ "joint_positions": [
152
+ 0.18636566400527954,
153
+ -0.0
154
+ ],
155
+ "cam_pose": [
156
+ -2.639387845993042,
157
+ 0.2595023512840271,
158
+ 0.7578942775726318
159
+ ],
160
+ "cam_distance": 2.7582807540893555
161
+ },
162
+ {
163
+ "frame": 8,
164
+ "take": 1,
165
+ "manipulation_level": 2,
166
+ "active_joints": [
167
+ 0,
168
+ 1
169
+ ],
170
+ "joint_positions": [
171
+ 0.21298933029174805,
172
+ -0.0
173
+ ],
174
+ "cam_pose": [
175
+ -2.639387845993042,
176
+ 0.2595023512840271,
177
+ 0.7578942775726318
178
+ ],
179
+ "cam_distance": 2.7582807540893555
180
+ },
181
+ {
182
+ "frame": 9,
183
+ "take": 1,
184
+ "manipulation_level": 2,
185
+ "active_joints": [
186
+ 0,
187
+ 1
188
+ ],
189
+ "joint_positions": [
190
+ 0.23961299657821655,
191
+ -0.0
192
+ ],
193
+ "cam_pose": [
194
+ -2.639387845993042,
195
+ 0.2595023512840271,
196
+ 0.7578942775726318
197
+ ],
198
+ "cam_distance": 2.7582807540893555
199
+ },
200
+ {
201
+ "frame": 10,
202
+ "take": 1,
203
+ "manipulation_level": 2,
204
+ "active_joints": [
205
+ 0,
206
+ 1
207
+ ],
208
+ "joint_positions": [
209
+ 0.26623666286468506,
210
+ -0.0
211
+ ],
212
+ "cam_pose": [
213
+ -2.639387845993042,
214
+ 0.2595023512840271,
215
+ 0.7578942775726318
216
+ ],
217
+ "cam_distance": 2.7582807540893555
218
+ },
219
+ {
220
+ "frame": 11,
221
+ "take": 1,
222
+ "manipulation_level": 2,
223
+ "active_joints": [
224
+ 0,
225
+ 1
226
+ ],
227
+ "joint_positions": [
228
+ 0.29286032915115356,
229
+ -0.0
230
+ ],
231
+ "cam_pose": [
232
+ -2.639387845993042,
233
+ 0.2595023512840271,
234
+ 0.7578942775726318
235
+ ],
236
+ "cam_distance": 2.7582807540893555
237
+ },
238
+ {
239
+ "frame": 12,
240
+ "take": 1,
241
+ "manipulation_level": 2,
242
+ "active_joints": [
243
+ 0,
244
+ 1
245
+ ],
246
+ "joint_positions": [
247
+ 0.31948399543762207,
248
+ -0.0
249
+ ],
250
+ "cam_pose": [
251
+ -2.639387845993042,
252
+ 0.2595023512840271,
253
+ 0.7578942775726318
254
+ ],
255
+ "cam_distance": 2.7582807540893555
256
+ },
257
+ {
258
+ "frame": 13,
259
+ "take": 1,
260
+ "manipulation_level": 2,
261
+ "active_joints": [
262
+ 0,
263
+ 1
264
+ ],
265
+ "joint_positions": [
266
+ 0.3461076617240906,
267
+ -0.0
268
+ ],
269
+ "cam_pose": [
270
+ -2.639387845993042,
271
+ 0.2595023512840271,
272
+ 0.7578942775726318
273
+ ],
274
+ "cam_distance": 2.7582807540893555
275
+ },
276
+ {
277
+ "frame": 14,
278
+ "take": 1,
279
+ "manipulation_level": 2,
280
+ "active_joints": [
281
+ 0,
282
+ 1
283
+ ],
284
+ "joint_positions": [
285
+ 0.3727313280105591,
286
+ -0.0
287
+ ],
288
+ "cam_pose": [
289
+ -2.639387845993042,
290
+ 0.2595023512840271,
291
+ 0.7578942775726318
292
+ ],
293
+ "cam_distance": 2.7582807540893555
294
+ },
295
+ {
296
+ "frame": 15,
297
+ "take": 1,
298
+ "manipulation_level": 2,
299
+ "active_joints": [
300
+ 0,
301
+ 1
302
+ ],
303
+ "joint_positions": [
304
+ 0.3993549942970276,
305
+ -0.0
306
+ ],
307
+ "cam_pose": [
308
+ -2.639387845993042,
309
+ 0.2595023512840271,
310
+ 0.7578942775726318
311
+ ],
312
+ "cam_distance": 2.7582807540893555
313
+ },
314
+ {
315
+ "frame": 16,
316
+ "take": 1,
317
+ "manipulation_level": 2,
318
+ "active_joints": [
319
+ 0,
320
+ 1
321
+ ],
322
+ "joint_positions": [
323
+ 0.4259786605834961,
324
+ -0.0
325
+ ],
326
+ "cam_pose": [
327
+ -2.639387845993042,
328
+ 0.2595023512840271,
329
+ 0.7578942775726318
330
+ ],
331
+ "cam_distance": 2.7582807540893555
332
+ },
333
+ {
334
+ "frame": 17,
335
+ "take": 1,
336
+ "manipulation_level": 2,
337
+ "active_joints": [
338
+ 0,
339
+ 1
340
+ ],
341
+ "joint_positions": [
342
+ 0.4526023268699646,
343
+ -0.0
344
+ ],
345
+ "cam_pose": [
346
+ -2.639387845993042,
347
+ 0.2595023512840271,
348
+ 0.7578942775726318
349
+ ],
350
+ "cam_distance": 2.7582807540893555
351
+ },
352
+ {
353
+ "frame": 18,
354
+ "take": 1,
355
+ "manipulation_level": 2,
356
+ "active_joints": [
357
+ 0,
358
+ 1
359
+ ],
360
+ "joint_positions": [
361
+ 0.4792259931564331,
362
+ -0.0
363
+ ],
364
+ "cam_pose": [
365
+ -2.639387845993042,
366
+ 0.2595023512840271,
367
+ 0.7578942775726318
368
+ ],
369
+ "cam_distance": 2.7582807540893555
370
+ },
371
+ {
372
+ "frame": 19,
373
+ "take": 1,
374
+ "manipulation_level": 2,
375
+ "active_joints": [
376
+ 0,
377
+ 1
378
+ ],
379
+ "joint_positions": [
380
+ 0.5058496594429016,
381
+ -0.0
382
+ ],
383
+ "cam_pose": [
384
+ -2.639387845993042,
385
+ 0.2595023512840271,
386
+ 0.7578942775726318
387
+ ],
388
+ "cam_distance": 2.7582807540893555
389
+ },
390
+ {
391
+ "frame": 20,
392
+ "take": 1,
393
+ "manipulation_level": 2,
394
+ "active_joints": [
395
+ 0,
396
+ 1
397
+ ],
398
+ "joint_positions": [
399
+ 0.5324733257293701,
400
+ -0.0
401
+ ],
402
+ "cam_pose": [
403
+ -2.639387845993042,
404
+ 0.2595023512840271,
405
+ 0.7578942775726318
406
+ ],
407
+ "cam_distance": 2.7582807540893555
408
+ },
409
+ {
410
+ "frame": 21,
411
+ "take": 1,
412
+ "manipulation_level": 2,
413
+ "active_joints": [
414
+ 0,
415
+ 1
416
+ ],
417
+ "joint_positions": [
418
+ 0.5590969920158386,
419
+ -0.0
420
+ ],
421
+ "cam_pose": [
422
+ -2.639387845993042,
423
+ 0.2595023512840271,
424
+ 0.7578942775726318
425
+ ],
426
+ "cam_distance": 2.7582807540893555
427
+ },
428
+ {
429
+ "frame": 22,
430
+ "take": 1,
431
+ "manipulation_level": 2,
432
+ "active_joints": [
433
+ 0,
434
+ 1
435
+ ],
436
+ "joint_positions": [
437
+ 0.5857206583023071,
438
+ -0.0
439
+ ],
440
+ "cam_pose": [
441
+ -2.639387845993042,
442
+ 0.2595023512840271,
443
+ 0.7578942775726318
444
+ ],
445
+ "cam_distance": 2.7582807540893555
446
+ },
447
+ {
448
+ "frame": 23,
449
+ "take": 1,
450
+ "manipulation_level": 2,
451
+ "active_joints": [
452
+ 0,
453
+ 1
454
+ ],
455
+ "joint_positions": [
456
+ 0.6123443245887756,
457
+ -0.0
458
+ ],
459
+ "cam_pose": [
460
+ -2.639387845993042,
461
+ 0.2595023512840271,
462
+ 0.7578942775726318
463
+ ],
464
+ "cam_distance": 2.7582807540893555
465
+ },
466
+ {
467
+ "frame": 24,
468
+ "take": 1,
469
+ "manipulation_level": 2,
470
+ "active_joints": [
471
+ 0,
472
+ 1
473
+ ],
474
+ "joint_positions": [
475
+ 0.6389679908752441,
476
+ -0.0
477
+ ],
478
+ "cam_pose": [
479
+ -2.639387845993042,
480
+ 0.2595023512840271,
481
+ 0.7578942775726318
482
+ ],
483
+ "cam_distance": 2.7582807540893555
484
+ },
485
+ {
486
+ "frame": 25,
487
+ "take": 1,
488
+ "manipulation_level": 2,
489
+ "active_joints": [
490
+ 0,
491
+ 1
492
+ ],
493
+ "joint_positions": [
494
+ 0.6655916571617126,
495
+ -0.0
496
+ ],
497
+ "cam_pose": [
498
+ -2.639387845993042,
499
+ 0.2595023512840271,
500
+ 0.7578942775726318
501
+ ],
502
+ "cam_distance": 2.7582807540893555
503
+ },
504
+ {
505
+ "frame": 26,
506
+ "take": 1,
507
+ "manipulation_level": 2,
508
+ "active_joints": [
509
+ 0,
510
+ 1
511
+ ],
512
+ "joint_positions": [
513
+ 0.6922153234481812,
514
+ -0.0
515
+ ],
516
+ "cam_pose": [
517
+ -2.639387845993042,
518
+ 0.2595023512840271,
519
+ 0.7578942775726318
520
+ ],
521
+ "cam_distance": 2.7582807540893555
522
+ },
523
+ {
524
+ "frame": 27,
525
+ "take": 1,
526
+ "manipulation_level": 2,
527
+ "active_joints": [
528
+ 0,
529
+ 1
530
+ ],
531
+ "joint_positions": [
532
+ 0.7188389897346497,
533
+ -0.0
534
+ ],
535
+ "cam_pose": [
536
+ -2.639387845993042,
537
+ 0.2595023512840271,
538
+ 0.7578942775726318
539
+ ],
540
+ "cam_distance": 2.7582807540893555
541
+ },
542
+ {
543
+ "frame": 28,
544
+ "take": 1,
545
+ "manipulation_level": 2,
546
+ "active_joints": [
547
+ 0,
548
+ 1
549
+ ],
550
+ "joint_positions": [
551
+ 0.7454626560211182,
552
+ -0.0
553
+ ],
554
+ "cam_pose": [
555
+ -2.639387845993042,
556
+ 0.2595023512840271,
557
+ 0.7578942775726318
558
+ ],
559
+ "cam_distance": 2.7582807540893555
560
+ },
561
+ {
562
+ "frame": 29,
563
+ "take": 1,
564
+ "manipulation_level": 2,
565
+ "active_joints": [
566
+ 0,
567
+ 1
568
+ ],
569
+ "joint_positions": [
570
+ 0.7720863223075867,
571
+ -0.0
572
+ ],
573
+ "cam_pose": [
574
+ -2.639387845993042,
575
+ 0.2595023512840271,
576
+ 0.7578942775726318
577
+ ],
578
+ "cam_distance": 2.7582807540893555
579
+ },
580
+ {
581
+ "frame": 30,
582
+ "take": 1,
583
+ "manipulation_level": 2,
584
+ "active_joints": [
585
+ 0,
586
+ 1
587
+ ],
588
+ "joint_positions": [
589
+ 0.7987099885940552,
590
+ -0.0
591
+ ],
592
+ "cam_pose": [
593
+ -2.639387845993042,
594
+ 0.2595023512840271,
595
+ 0.7578942775726318
596
+ ],
597
+ "cam_distance": 2.7582807540893555
598
+ },
599
+ {
600
+ "frame": 31,
601
+ "take": 1,
602
+ "manipulation_level": 2,
603
+ "active_joints": [
604
+ 0,
605
+ 1
606
+ ],
607
+ "joint_positions": [
608
+ 0.8253336548805237,
609
+ -0.0
610
+ ],
611
+ "cam_pose": [
612
+ -2.639387845993042,
613
+ 0.2595023512840271,
614
+ 0.7578942775726318
615
+ ],
616
+ "cam_distance": 2.7582807540893555
617
+ },
618
+ {
619
+ "frame": 32,
620
+ "take": 1,
621
+ "manipulation_level": 2,
622
+ "active_joints": [
623
+ 0,
624
+ 1
625
+ ],
626
+ "joint_positions": [
627
+ 0.8519573211669922,
628
+ -0.0
629
+ ],
630
+ "cam_pose": [
631
+ -2.639387845993042,
632
+ 0.2595023512840271,
633
+ 0.7578942775726318
634
+ ],
635
+ "cam_distance": 2.7582807540893555
636
+ },
637
+ {
638
+ "frame": 33,
639
+ "take": 1,
640
+ "manipulation_level": 2,
641
+ "active_joints": [
642
+ 0,
643
+ 1
644
+ ],
645
+ "joint_positions": [
646
+ 0.8785809874534607,
647
+ -0.0
648
+ ],
649
+ "cam_pose": [
650
+ -2.639387845993042,
651
+ 0.2595023512840271,
652
+ 0.7578942775726318
653
+ ],
654
+ "cam_distance": 2.7582807540893555
655
+ },
656
+ {
657
+ "frame": 34,
658
+ "take": 1,
659
+ "manipulation_level": 2,
660
+ "active_joints": [
661
+ 0,
662
+ 1
663
+ ],
664
+ "joint_positions": [
665
+ 0.9052046537399292,
666
+ -0.0
667
+ ],
668
+ "cam_pose": [
669
+ -2.639387845993042,
670
+ 0.2595023512840271,
671
+ 0.7578942775726318
672
+ ],
673
+ "cam_distance": 2.7582807540893555
674
+ },
675
+ {
676
+ "frame": 35,
677
+ "take": 1,
678
+ "manipulation_level": 2,
679
+ "active_joints": [
680
+ 0,
681
+ 1
682
+ ],
683
+ "joint_positions": [
684
+ 0.9318283200263977,
685
+ -0.0
686
+ ],
687
+ "cam_pose": [
688
+ -2.639387845993042,
689
+ 0.2595023512840271,
690
+ 0.7578942775726318
691
+ ],
692
+ "cam_distance": 2.7582807540893555
693
+ },
694
+ {
695
+ "frame": 36,
696
+ "take": 1,
697
+ "manipulation_level": 2,
698
+ "active_joints": [
699
+ 0,
700
+ 1
701
+ ],
702
+ "joint_positions": [
703
+ 0.9584519863128662,
704
+ -0.0
705
+ ],
706
+ "cam_pose": [
707
+ -2.639387845993042,
708
+ 0.2595023512840271,
709
+ 0.7578942775726318
710
+ ],
711
+ "cam_distance": 2.7582807540893555
712
+ },
713
+ {
714
+ "frame": 37,
715
+ "take": 1,
716
+ "manipulation_level": 2,
717
+ "active_joints": [
718
+ 0,
719
+ 1
720
+ ],
721
+ "joint_positions": [
722
+ 0.9850756525993347,
723
+ -0.0
724
+ ],
725
+ "cam_pose": [
726
+ -2.639387845993042,
727
+ 0.2595023512840271,
728
+ 0.7578942775726318
729
+ ],
730
+ "cam_distance": 2.7582807540893555
731
+ },
732
+ {
733
+ "frame": 38,
734
+ "take": 1,
735
+ "manipulation_level": 2,
736
+ "active_joints": [
737
+ 0,
738
+ 1
739
+ ],
740
+ "joint_positions": [
741
+ 1.0116993188858032,
742
+ -0.0
743
+ ],
744
+ "cam_pose": [
745
+ -2.639387845993042,
746
+ 0.2595023512840271,
747
+ 0.7578942775726318
748
+ ],
749
+ "cam_distance": 2.7582807540893555
750
+ },
751
+ {
752
+ "frame": 39,
753
+ "take": 1,
754
+ "manipulation_level": 2,
755
+ "active_joints": [
756
+ 0,
757
+ 1
758
+ ],
759
+ "joint_positions": [
760
+ 1.0383230447769165,
761
+ -0.0
762
+ ],
763
+ "cam_pose": [
764
+ -2.639387845993042,
765
+ 0.2595023512840271,
766
+ 0.7578942775726318
767
+ ],
768
+ "cam_distance": 2.7582807540893555
769
+ },
770
+ {
771
+ "frame": 40,
772
+ "take": 1,
773
+ "manipulation_level": 2,
774
+ "active_joints": [
775
+ 0,
776
+ 1
777
+ ],
778
+ "joint_positions": [
779
+ 1.0649466514587402,
780
+ -0.0
781
+ ],
782
+ "cam_pose": [
783
+ -2.639387845993042,
784
+ 0.2595023512840271,
785
+ 0.7578942775726318
786
+ ],
787
+ "cam_distance": 2.7582807540893555
788
+ },
789
+ {
790
+ "frame": 41,
791
+ "take": 1,
792
+ "manipulation_level": 2,
793
+ "active_joints": [
794
+ 0,
795
+ 1
796
+ ],
797
+ "joint_positions": [
798
+ 1.0915703773498535,
799
+ -0.0
800
+ ],
801
+ "cam_pose": [
802
+ -2.639387845993042,
803
+ 0.2595023512840271,
804
+ 0.7578942775726318
805
+ ],
806
+ "cam_distance": 2.7582807540893555
807
+ },
808
+ {
809
+ "frame": 42,
810
+ "take": 1,
811
+ "manipulation_level": 2,
812
+ "active_joints": [
813
+ 0,
814
+ 1
815
+ ],
816
+ "joint_positions": [
817
+ 1.1181939840316772,
818
+ -0.0
819
+ ],
820
+ "cam_pose": [
821
+ -2.639387845993042,
822
+ 0.2595023512840271,
823
+ 0.7578942775726318
824
+ ],
825
+ "cam_distance": 2.7582807540893555
826
+ },
827
+ {
828
+ "frame": 43,
829
+ "take": 1,
830
+ "manipulation_level": 2,
831
+ "active_joints": [
832
+ 0,
833
+ 1
834
+ ],
835
+ "joint_positions": [
836
+ 1.1448177099227905,
837
+ -0.0
838
+ ],
839
+ "cam_pose": [
840
+ -2.639387845993042,
841
+ 0.2595023512840271,
842
+ 0.7578942775726318
843
+ ],
844
+ "cam_distance": 2.7582807540893555
845
+ },
846
+ {
847
+ "frame": 44,
848
+ "take": 1,
849
+ "manipulation_level": 2,
850
+ "active_joints": [
851
+ 0,
852
+ 1
853
+ ],
854
+ "joint_positions": [
855
+ 1.1714413166046143,
856
+ -0.0
857
+ ],
858
+ "cam_pose": [
859
+ -2.639387845993042,
860
+ 0.2595023512840271,
861
+ 0.7578942775726318
862
+ ],
863
+ "cam_distance": 2.7582807540893555
864
+ },
865
+ {
866
+ "frame": 45,
867
+ "take": 1,
868
+ "manipulation_level": 2,
869
+ "active_joints": [
870
+ 0,
871
+ 1
872
+ ],
873
+ "joint_positions": [
874
+ 1.1980650424957275,
875
+ -0.0
876
+ ],
877
+ "cam_pose": [
878
+ -2.639387845993042,
879
+ 0.2595023512840271,
880
+ 0.7578942775726318
881
+ ],
882
+ "cam_distance": 2.7582807540893555
883
+ },
884
+ {
885
+ "frame": 46,
886
+ "take": 1,
887
+ "manipulation_level": 2,
888
+ "active_joints": [
889
+ 0,
890
+ 1
891
+ ],
892
+ "joint_positions": [
893
+ 1.2246886491775513,
894
+ -0.0
895
+ ],
896
+ "cam_pose": [
897
+ -2.639387845993042,
898
+ 0.2595023512840271,
899
+ 0.7578942775726318
900
+ ],
901
+ "cam_distance": 2.7582807540893555
902
+ },
903
+ {
904
+ "frame": 47,
905
+ "take": 1,
906
+ "manipulation_level": 2,
907
+ "active_joints": [
908
+ 0,
909
+ 1
910
+ ],
911
+ "joint_positions": [
912
+ 1.2513123750686646,
913
+ -0.0
914
+ ],
915
+ "cam_pose": [
916
+ -2.639387845993042,
917
+ 0.2595023512840271,
918
+ 0.7578942775726318
919
+ ],
920
+ "cam_distance": 2.7582807540893555
921
+ },
922
+ {
923
+ "frame": 48,
924
+ "take": 1,
925
+ "manipulation_level": 2,
926
+ "active_joints": [
927
+ 0,
928
+ 1
929
+ ],
930
+ "joint_positions": [
931
+ 1.2779359817504883,
932
+ -0.0
933
+ ],
934
+ "cam_pose": [
935
+ -2.639387845993042,
936
+ 0.2595023512840271,
937
+ 0.7578942775726318
938
+ ],
939
+ "cam_distance": 2.7582807540893555
940
+ },
941
+ {
942
+ "frame": 49,
943
+ "take": 1,
944
+ "manipulation_level": 2,
945
+ "active_joints": [
946
+ 0,
947
+ 1
948
+ ],
949
+ "joint_positions": [
950
+ 1.3045597076416016,
951
+ -0.0
952
+ ],
953
+ "cam_pose": [
954
+ -2.639387845993042,
955
+ 0.2595023512840271,
956
+ 0.7578942775726318
957
+ ],
958
+ "cam_distance": 2.7582807540893555
959
+ },
960
+ {
961
+ "frame": 50,
962
+ "take": 1,
963
+ "manipulation_level": 2,
964
+ "active_joints": [
965
+ 0,
966
+ 1
967
+ ],
968
+ "joint_positions": [
969
+ 1.3311833143234253,
970
+ -0.0
971
+ ],
972
+ "cam_pose": [
973
+ -2.639387845993042,
974
+ 0.2595023512840271,
975
+ 0.7578942775726318
976
+ ],
977
+ "cam_distance": 2.7582807540893555
978
+ },
979
+ {
980
+ "frame": 51,
981
+ "take": 1,
982
+ "manipulation_level": 2,
983
+ "active_joints": [
984
+ 0,
985
+ 1
986
+ ],
987
+ "joint_positions": [
988
+ 1.3578070402145386,
989
+ -0.0
990
+ ],
991
+ "cam_pose": [
992
+ -2.639387845993042,
993
+ 0.2595023512840271,
994
+ 0.7578942775726318
995
+ ],
996
+ "cam_distance": 2.7582807540893555
997
+ },
998
+ {
999
+ "frame": 52,
1000
+ "take": 1,
1001
+ "manipulation_level": 2,
1002
+ "active_joints": [
1003
+ 0,
1004
+ 1
1005
+ ],
1006
+ "joint_positions": [
1007
+ 1.3844306468963623,
1008
+ -0.0
1009
+ ],
1010
+ "cam_pose": [
1011
+ -2.639387845993042,
1012
+ 0.2595023512840271,
1013
+ 0.7578942775726318
1014
+ ],
1015
+ "cam_distance": 2.7582807540893555
1016
+ },
1017
+ {
1018
+ "frame": 53,
1019
+ "take": 1,
1020
+ "manipulation_level": 2,
1021
+ "active_joints": [
1022
+ 0,
1023
+ 1
1024
+ ],
1025
+ "joint_positions": [
1026
+ 1.4110543727874756,
1027
+ -0.0
1028
+ ],
1029
+ "cam_pose": [
1030
+ -2.639387845993042,
1031
+ 0.2595023512840271,
1032
+ 0.7578942775726318
1033
+ ],
1034
+ "cam_distance": 2.7582807540893555
1035
+ },
1036
+ {
1037
+ "frame": 54,
1038
+ "take": 1,
1039
+ "manipulation_level": 2,
1040
+ "active_joints": [
1041
+ 0,
1042
+ 1
1043
+ ],
1044
+ "joint_positions": [
1045
+ 1.4376779794692993,
1046
+ -0.0
1047
+ ],
1048
+ "cam_pose": [
1049
+ -2.639387845993042,
1050
+ 0.2595023512840271,
1051
+ 0.7578942775726318
1052
+ ],
1053
+ "cam_distance": 2.7582807540893555
1054
+ },
1055
+ {
1056
+ "frame": 55,
1057
+ "take": 1,
1058
+ "manipulation_level": 2,
1059
+ "active_joints": [
1060
+ 0,
1061
+ 1
1062
+ ],
1063
+ "joint_positions": [
1064
+ 1.4643017053604126,
1065
+ -0.0
1066
+ ],
1067
+ "cam_pose": [
1068
+ -2.639387845993042,
1069
+ 0.2595023512840271,
1070
+ 0.7578942775726318
1071
+ ],
1072
+ "cam_distance": 2.7582807540893555
1073
+ },
1074
+ {
1075
+ "frame": 56,
1076
+ "take": 1,
1077
+ "manipulation_level": 2,
1078
+ "active_joints": [
1079
+ 0,
1080
+ 1
1081
+ ],
1082
+ "joint_positions": [
1083
+ 1.4909253120422363,
1084
+ -0.0
1085
+ ],
1086
+ "cam_pose": [
1087
+ -2.639387845993042,
1088
+ 0.2595023512840271,
1089
+ 0.7578942775726318
1090
+ ],
1091
+ "cam_distance": 2.7582807540893555
1092
+ },
1093
+ {
1094
+ "frame": 57,
1095
+ "take": 1,
1096
+ "manipulation_level": 2,
1097
+ "active_joints": [
1098
+ 0,
1099
+ 1
1100
+ ],
1101
+ "joint_positions": [
1102
+ 1.5175490379333496,
1103
+ -0.0
1104
+ ],
1105
+ "cam_pose": [
1106
+ -2.639387845993042,
1107
+ 0.2595023512840271,
1108
+ 0.7578942775726318
1109
+ ],
1110
+ "cam_distance": 2.7582807540893555
1111
+ },
1112
+ {
1113
+ "frame": 58,
1114
+ "take": 1,
1115
+ "manipulation_level": 2,
1116
+ "active_joints": [
1117
+ 0,
1118
+ 1
1119
+ ],
1120
+ "joint_positions": [
1121
+ 1.5441726446151733,
1122
+ -0.0
1123
+ ],
1124
+ "cam_pose": [
1125
+ -2.639387845993042,
1126
+ 0.2595023512840271,
1127
+ 0.7578942775726318
1128
+ ],
1129
+ "cam_distance": 2.7582807540893555
1130
+ },
1131
+ {
1132
+ "frame": 59,
1133
+ "take": 1,
1134
+ "manipulation_level": 2,
1135
+ "active_joints": [
1136
+ 0,
1137
+ 1
1138
+ ],
1139
+ "joint_positions": [
1140
+ 1.5707963705062866,
1141
+ -0.0
1142
+ ],
1143
+ "cam_pose": [
1144
+ -2.639387845993042,
1145
+ 0.2595023512840271,
1146
+ 0.7578942775726318
1147
+ ],
1148
+ "cam_distance": 2.7582807540893555
1149
+ },
1150
+ {
1151
+ "frame": 60,
1152
+ "take": 1,
1153
+ "manipulation_level": 2,
1154
+ "active_joints": [
1155
+ 0,
1156
+ 1
1157
+ ],
1158
+ "joint_positions": [
1159
+ -0.0,
1160
+ 0.0
1161
+ ],
1162
+ "cam_pose": [
1163
+ -2.639387845993042,
1164
+ 0.2595023512840271,
1165
+ 0.7578942775726318
1166
+ ],
1167
+ "cam_distance": 2.7582807540893555
1168
+ },
1169
+ {
1170
+ "frame": 61,
1171
+ "take": 1,
1172
+ "manipulation_level": 2,
1173
+ "active_joints": [
1174
+ 0,
1175
+ 1
1176
+ ],
1177
+ "joint_positions": [
1178
+ -0.0,
1179
+ 0.026623666286468506
1180
+ ],
1181
+ "cam_pose": [
1182
+ -2.639387845993042,
1183
+ 0.2595023512840271,
1184
+ 0.7578942775726318
1185
+ ],
1186
+ "cam_distance": 2.7582807540893555
1187
+ },
1188
+ {
1189
+ "frame": 62,
1190
+ "take": 1,
1191
+ "manipulation_level": 2,
1192
+ "active_joints": [
1193
+ 0,
1194
+ 1
1195
+ ],
1196
+ "joint_positions": [
1197
+ -0.0,
1198
+ 0.05324733257293701
1199
+ ],
1200
+ "cam_pose": [
1201
+ -2.639387845993042,
1202
+ 0.2595023512840271,
1203
+ 0.7578942775726318
1204
+ ],
1205
+ "cam_distance": 2.7582807540893555
1206
+ },
1207
+ {
1208
+ "frame": 63,
1209
+ "take": 1,
1210
+ "manipulation_level": 2,
1211
+ "active_joints": [
1212
+ 0,
1213
+ 1
1214
+ ],
1215
+ "joint_positions": [
1216
+ -0.0,
1217
+ 0.07987099885940552
1218
+ ],
1219
+ "cam_pose": [
1220
+ -2.639387845993042,
1221
+ 0.2595023512840271,
1222
+ 0.7578942775726318
1223
+ ],
1224
+ "cam_distance": 2.7582807540893555
1225
+ },
1226
+ {
1227
+ "frame": 64,
1228
+ "take": 1,
1229
+ "manipulation_level": 2,
1230
+ "active_joints": [
1231
+ 0,
1232
+ 1
1233
+ ],
1234
+ "joint_positions": [
1235
+ -0.0,
1236
+ 0.10649466514587402
1237
+ ],
1238
+ "cam_pose": [
1239
+ -2.639387845993042,
1240
+ 0.2595023512840271,
1241
+ 0.7578942775726318
1242
+ ],
1243
+ "cam_distance": 2.7582807540893555
1244
+ },
1245
+ {
1246
+ "frame": 65,
1247
+ "take": 1,
1248
+ "manipulation_level": 2,
1249
+ "active_joints": [
1250
+ 0,
1251
+ 1
1252
+ ],
1253
+ "joint_positions": [
1254
+ -0.0,
1255
+ 0.13311833143234253
1256
+ ],
1257
+ "cam_pose": [
1258
+ -2.639387845993042,
1259
+ 0.2595023512840271,
1260
+ 0.7578942775726318
1261
+ ],
1262
+ "cam_distance": 2.7582807540893555
1263
+ },
1264
+ {
1265
+ "frame": 66,
1266
+ "take": 1,
1267
+ "manipulation_level": 2,
1268
+ "active_joints": [
1269
+ 0,
1270
+ 1
1271
+ ],
1272
+ "joint_positions": [
1273
+ -0.0,
1274
+ 0.15974199771881104
1275
+ ],
1276
+ "cam_pose": [
1277
+ -2.639387845993042,
1278
+ 0.2595023512840271,
1279
+ 0.7578942775726318
1280
+ ],
1281
+ "cam_distance": 2.7582807540893555
1282
+ },
1283
+ {
1284
+ "frame": 67,
1285
+ "take": 1,
1286
+ "manipulation_level": 2,
1287
+ "active_joints": [
1288
+ 0,
1289
+ 1
1290
+ ],
1291
+ "joint_positions": [
1292
+ -0.0,
1293
+ 0.18636566400527954
1294
+ ],
1295
+ "cam_pose": [
1296
+ -2.639387845993042,
1297
+ 0.2595023512840271,
1298
+ 0.7578942775726318
1299
+ ],
1300
+ "cam_distance": 2.7582807540893555
1301
+ },
1302
+ {
1303
+ "frame": 68,
1304
+ "take": 1,
1305
+ "manipulation_level": 2,
1306
+ "active_joints": [
1307
+ 0,
1308
+ 1
1309
+ ],
1310
+ "joint_positions": [
1311
+ -0.0,
1312
+ 0.21298933029174805
1313
+ ],
1314
+ "cam_pose": [
1315
+ -2.639387845993042,
1316
+ 0.2595023512840271,
1317
+ 0.7578942775726318
1318
+ ],
1319
+ "cam_distance": 2.7582807540893555
1320
+ },
1321
+ {
1322
+ "frame": 69,
1323
+ "take": 1,
1324
+ "manipulation_level": 2,
1325
+ "active_joints": [
1326
+ 0,
1327
+ 1
1328
+ ],
1329
+ "joint_positions": [
1330
+ -0.0,
1331
+ 0.23961299657821655
1332
+ ],
1333
+ "cam_pose": [
1334
+ -2.639387845993042,
1335
+ 0.2595023512840271,
1336
+ 0.7578942775726318
1337
+ ],
1338
+ "cam_distance": 2.7582807540893555
1339
+ },
1340
+ {
1341
+ "frame": 70,
1342
+ "take": 1,
1343
+ "manipulation_level": 2,
1344
+ "active_joints": [
1345
+ 0,
1346
+ 1
1347
+ ],
1348
+ "joint_positions": [
1349
+ -0.0,
1350
+ 0.26623666286468506
1351
+ ],
1352
+ "cam_pose": [
1353
+ -2.639387845993042,
1354
+ 0.2595023512840271,
1355
+ 0.7578942775726318
1356
+ ],
1357
+ "cam_distance": 2.7582807540893555
1358
+ },
1359
+ {
1360
+ "frame": 71,
1361
+ "take": 1,
1362
+ "manipulation_level": 2,
1363
+ "active_joints": [
1364
+ 0,
1365
+ 1
1366
+ ],
1367
+ "joint_positions": [
1368
+ -0.0,
1369
+ 0.29286032915115356
1370
+ ],
1371
+ "cam_pose": [
1372
+ -2.639387845993042,
1373
+ 0.2595023512840271,
1374
+ 0.7578942775726318
1375
+ ],
1376
+ "cam_distance": 2.7582807540893555
1377
+ },
1378
+ {
1379
+ "frame": 72,
1380
+ "take": 1,
1381
+ "manipulation_level": 2,
1382
+ "active_joints": [
1383
+ 0,
1384
+ 1
1385
+ ],
1386
+ "joint_positions": [
1387
+ -0.0,
1388
+ 0.31948399543762207
1389
+ ],
1390
+ "cam_pose": [
1391
+ -2.639387845993042,
1392
+ 0.2595023512840271,
1393
+ 0.7578942775726318
1394
+ ],
1395
+ "cam_distance": 2.7582807540893555
1396
+ },
1397
+ {
1398
+ "frame": 73,
1399
+ "take": 1,
1400
+ "manipulation_level": 2,
1401
+ "active_joints": [
1402
+ 0,
1403
+ 1
1404
+ ],
1405
+ "joint_positions": [
1406
+ -0.0,
1407
+ 0.3461076617240906
1408
+ ],
1409
+ "cam_pose": [
1410
+ -2.639387845993042,
1411
+ 0.2595023512840271,
1412
+ 0.7578942775726318
1413
+ ],
1414
+ "cam_distance": 2.7582807540893555
1415
+ },
1416
+ {
1417
+ "frame": 74,
1418
+ "take": 1,
1419
+ "manipulation_level": 2,
1420
+ "active_joints": [
1421
+ 0,
1422
+ 1
1423
+ ],
1424
+ "joint_positions": [
1425
+ -0.0,
1426
+ 0.3727313280105591
1427
+ ],
1428
+ "cam_pose": [
1429
+ -2.639387845993042,
1430
+ 0.2595023512840271,
1431
+ 0.7578942775726318
1432
+ ],
1433
+ "cam_distance": 2.7582807540893555
1434
+ },
1435
+ {
1436
+ "frame": 75,
1437
+ "take": 1,
1438
+ "manipulation_level": 2,
1439
+ "active_joints": [
1440
+ 0,
1441
+ 1
1442
+ ],
1443
+ "joint_positions": [
1444
+ -0.0,
1445
+ 0.3993549942970276
1446
+ ],
1447
+ "cam_pose": [
1448
+ -2.639387845993042,
1449
+ 0.2595023512840271,
1450
+ 0.7578942775726318
1451
+ ],
1452
+ "cam_distance": 2.7582807540893555
1453
+ },
1454
+ {
1455
+ "frame": 76,
1456
+ "take": 1,
1457
+ "manipulation_level": 2,
1458
+ "active_joints": [
1459
+ 0,
1460
+ 1
1461
+ ],
1462
+ "joint_positions": [
1463
+ -0.0,
1464
+ 0.4259786605834961
1465
+ ],
1466
+ "cam_pose": [
1467
+ -2.639387845993042,
1468
+ 0.2595023512840271,
1469
+ 0.7578942775726318
1470
+ ],
1471
+ "cam_distance": 2.7582807540893555
1472
+ },
1473
+ {
1474
+ "frame": 77,
1475
+ "take": 1,
1476
+ "manipulation_level": 2,
1477
+ "active_joints": [
1478
+ 0,
1479
+ 1
1480
+ ],
1481
+ "joint_positions": [
1482
+ -0.0,
1483
+ 0.4526023268699646
1484
+ ],
1485
+ "cam_pose": [
1486
+ -2.639387845993042,
1487
+ 0.2595023512840271,
1488
+ 0.7578942775726318
1489
+ ],
1490
+ "cam_distance": 2.7582807540893555
1491
+ },
1492
+ {
1493
+ "frame": 78,
1494
+ "take": 1,
1495
+ "manipulation_level": 2,
1496
+ "active_joints": [
1497
+ 0,
1498
+ 1
1499
+ ],
1500
+ "joint_positions": [
1501
+ -0.0,
1502
+ 0.4792259931564331
1503
+ ],
1504
+ "cam_pose": [
1505
+ -2.639387845993042,
1506
+ 0.2595023512840271,
1507
+ 0.7578942775726318
1508
+ ],
1509
+ "cam_distance": 2.7582807540893555
1510
+ },
1511
+ {
1512
+ "frame": 79,
1513
+ "take": 1,
1514
+ "manipulation_level": 2,
1515
+ "active_joints": [
1516
+ 0,
1517
+ 1
1518
+ ],
1519
+ "joint_positions": [
1520
+ -0.0,
1521
+ 0.5058496594429016
1522
+ ],
1523
+ "cam_pose": [
1524
+ -2.639387845993042,
1525
+ 0.2595023512840271,
1526
+ 0.7578942775726318
1527
+ ],
1528
+ "cam_distance": 2.7582807540893555
1529
+ },
1530
+ {
1531
+ "frame": 80,
1532
+ "take": 1,
1533
+ "manipulation_level": 2,
1534
+ "active_joints": [
1535
+ 0,
1536
+ 1
1537
+ ],
1538
+ "joint_positions": [
1539
+ -0.0,
1540
+ 0.5324733257293701
1541
+ ],
1542
+ "cam_pose": [
1543
+ -2.639387845993042,
1544
+ 0.2595023512840271,
1545
+ 0.7578942775726318
1546
+ ],
1547
+ "cam_distance": 2.7582807540893555
1548
+ },
1549
+ {
1550
+ "frame": 81,
1551
+ "take": 1,
1552
+ "manipulation_level": 2,
1553
+ "active_joints": [
1554
+ 0,
1555
+ 1
1556
+ ],
1557
+ "joint_positions": [
1558
+ -0.0,
1559
+ 0.5590969920158386
1560
+ ],
1561
+ "cam_pose": [
1562
+ -2.639387845993042,
1563
+ 0.2595023512840271,
1564
+ 0.7578942775726318
1565
+ ],
1566
+ "cam_distance": 2.7582807540893555
1567
+ },
1568
+ {
1569
+ "frame": 82,
1570
+ "take": 1,
1571
+ "manipulation_level": 2,
1572
+ "active_joints": [
1573
+ 0,
1574
+ 1
1575
+ ],
1576
+ "joint_positions": [
1577
+ -0.0,
1578
+ 0.5857206583023071
1579
+ ],
1580
+ "cam_pose": [
1581
+ -2.639387845993042,
1582
+ 0.2595023512840271,
1583
+ 0.7578942775726318
1584
+ ],
1585
+ "cam_distance": 2.7582807540893555
1586
+ },
1587
+ {
1588
+ "frame": 83,
1589
+ "take": 1,
1590
+ "manipulation_level": 2,
1591
+ "active_joints": [
1592
+ 0,
1593
+ 1
1594
+ ],
1595
+ "joint_positions": [
1596
+ -0.0,
1597
+ 0.6123443245887756
1598
+ ],
1599
+ "cam_pose": [
1600
+ -2.639387845993042,
1601
+ 0.2595023512840271,
1602
+ 0.7578942775726318
1603
+ ],
1604
+ "cam_distance": 2.7582807540893555
1605
+ },
1606
+ {
1607
+ "frame": 84,
1608
+ "take": 1,
1609
+ "manipulation_level": 2,
1610
+ "active_joints": [
1611
+ 0,
1612
+ 1
1613
+ ],
1614
+ "joint_positions": [
1615
+ -0.0,
1616
+ 0.6389679908752441
1617
+ ],
1618
+ "cam_pose": [
1619
+ -2.639387845993042,
1620
+ 0.2595023512840271,
1621
+ 0.7578942775726318
1622
+ ],
1623
+ "cam_distance": 2.7582807540893555
1624
+ },
1625
+ {
1626
+ "frame": 85,
1627
+ "take": 1,
1628
+ "manipulation_level": 2,
1629
+ "active_joints": [
1630
+ 0,
1631
+ 1
1632
+ ],
1633
+ "joint_positions": [
1634
+ -0.0,
1635
+ 0.6655916571617126
1636
+ ],
1637
+ "cam_pose": [
1638
+ -2.639387845993042,
1639
+ 0.2595023512840271,
1640
+ 0.7578942775726318
1641
+ ],
1642
+ "cam_distance": 2.7582807540893555
1643
+ },
1644
+ {
1645
+ "frame": 86,
1646
+ "take": 1,
1647
+ "manipulation_level": 2,
1648
+ "active_joints": [
1649
+ 0,
1650
+ 1
1651
+ ],
1652
+ "joint_positions": [
1653
+ -0.0,
1654
+ 0.6922153234481812
1655
+ ],
1656
+ "cam_pose": [
1657
+ -2.639387845993042,
1658
+ 0.2595023512840271,
1659
+ 0.7578942775726318
1660
+ ],
1661
+ "cam_distance": 2.7582807540893555
1662
+ },
1663
+ {
1664
+ "frame": 87,
1665
+ "take": 1,
1666
+ "manipulation_level": 2,
1667
+ "active_joints": [
1668
+ 0,
1669
+ 1
1670
+ ],
1671
+ "joint_positions": [
1672
+ -0.0,
1673
+ 0.7188389897346497
1674
+ ],
1675
+ "cam_pose": [
1676
+ -2.639387845993042,
1677
+ 0.2595023512840271,
1678
+ 0.7578942775726318
1679
+ ],
1680
+ "cam_distance": 2.7582807540893555
1681
+ },
1682
+ {
1683
+ "frame": 88,
1684
+ "take": 1,
1685
+ "manipulation_level": 2,
1686
+ "active_joints": [
1687
+ 0,
1688
+ 1
1689
+ ],
1690
+ "joint_positions": [
1691
+ -0.0,
1692
+ 0.7454626560211182
1693
+ ],
1694
+ "cam_pose": [
1695
+ -2.639387845993042,
1696
+ 0.2595023512840271,
1697
+ 0.7578942775726318
1698
+ ],
1699
+ "cam_distance": 2.7582807540893555
1700
+ },
1701
+ {
1702
+ "frame": 89,
1703
+ "take": 1,
1704
+ "manipulation_level": 2,
1705
+ "active_joints": [
1706
+ 0,
1707
+ 1
1708
+ ],
1709
+ "joint_positions": [
1710
+ -0.0,
1711
+ 0.7720863223075867
1712
+ ],
1713
+ "cam_pose": [
1714
+ -2.639387845993042,
1715
+ 0.2595023512840271,
1716
+ 0.7578942775726318
1717
+ ],
1718
+ "cam_distance": 2.7582807540893555
1719
+ },
1720
+ {
1721
+ "frame": 90,
1722
+ "take": 1,
1723
+ "manipulation_level": 2,
1724
+ "active_joints": [
1725
+ 0,
1726
+ 1
1727
+ ],
1728
+ "joint_positions": [
1729
+ -0.0,
1730
+ 0.7987099885940552
1731
+ ],
1732
+ "cam_pose": [
1733
+ -2.639387845993042,
1734
+ 0.2595023512840271,
1735
+ 0.7578942775726318
1736
+ ],
1737
+ "cam_distance": 2.7582807540893555
1738
+ },
1739
+ {
1740
+ "frame": 91,
1741
+ "take": 1,
1742
+ "manipulation_level": 2,
1743
+ "active_joints": [
1744
+ 0,
1745
+ 1
1746
+ ],
1747
+ "joint_positions": [
1748
+ -0.0,
1749
+ 0.8253336548805237
1750
+ ],
1751
+ "cam_pose": [
1752
+ -2.639387845993042,
1753
+ 0.2595023512840271,
1754
+ 0.7578942775726318
1755
+ ],
1756
+ "cam_distance": 2.7582807540893555
1757
+ },
1758
+ {
1759
+ "frame": 92,
1760
+ "take": 1,
1761
+ "manipulation_level": 2,
1762
+ "active_joints": [
1763
+ 0,
1764
+ 1
1765
+ ],
1766
+ "joint_positions": [
1767
+ -0.0,
1768
+ 0.8519573211669922
1769
+ ],
1770
+ "cam_pose": [
1771
+ -2.639387845993042,
1772
+ 0.2595023512840271,
1773
+ 0.7578942775726318
1774
+ ],
1775
+ "cam_distance": 2.7582807540893555
1776
+ },
1777
+ {
1778
+ "frame": 93,
1779
+ "take": 1,
1780
+ "manipulation_level": 2,
1781
+ "active_joints": [
1782
+ 0,
1783
+ 1
1784
+ ],
1785
+ "joint_positions": [
1786
+ -0.0,
1787
+ 0.8785809874534607
1788
+ ],
1789
+ "cam_pose": [
1790
+ -2.639387845993042,
1791
+ 0.2595023512840271,
1792
+ 0.7578942775726318
1793
+ ],
1794
+ "cam_distance": 2.7582807540893555
1795
+ },
1796
+ {
1797
+ "frame": 94,
1798
+ "take": 1,
1799
+ "manipulation_level": 2,
1800
+ "active_joints": [
1801
+ 0,
1802
+ 1
1803
+ ],
1804
+ "joint_positions": [
1805
+ -0.0,
1806
+ 0.9052046537399292
1807
+ ],
1808
+ "cam_pose": [
1809
+ -2.639387845993042,
1810
+ 0.2595023512840271,
1811
+ 0.7578942775726318
1812
+ ],
1813
+ "cam_distance": 2.7582807540893555
1814
+ },
1815
+ {
1816
+ "frame": 95,
1817
+ "take": 1,
1818
+ "manipulation_level": 2,
1819
+ "active_joints": [
1820
+ 0,
1821
+ 1
1822
+ ],
1823
+ "joint_positions": [
1824
+ -0.0,
1825
+ 0.9318283200263977
1826
+ ],
1827
+ "cam_pose": [
1828
+ -2.639387845993042,
1829
+ 0.2595023512840271,
1830
+ 0.7578942775726318
1831
+ ],
1832
+ "cam_distance": 2.7582807540893555
1833
+ },
1834
+ {
1835
+ "frame": 96,
1836
+ "take": 1,
1837
+ "manipulation_level": 2,
1838
+ "active_joints": [
1839
+ 0,
1840
+ 1
1841
+ ],
1842
+ "joint_positions": [
1843
+ -0.0,
1844
+ 0.9584519863128662
1845
+ ],
1846
+ "cam_pose": [
1847
+ -2.639387845993042,
1848
+ 0.2595023512840271,
1849
+ 0.7578942775726318
1850
+ ],
1851
+ "cam_distance": 2.7582807540893555
1852
+ },
1853
+ {
1854
+ "frame": 97,
1855
+ "take": 1,
1856
+ "manipulation_level": 2,
1857
+ "active_joints": [
1858
+ 0,
1859
+ 1
1860
+ ],
1861
+ "joint_positions": [
1862
+ -0.0,
1863
+ 0.9850756525993347
1864
+ ],
1865
+ "cam_pose": [
1866
+ -2.639387845993042,
1867
+ 0.2595023512840271,
1868
+ 0.7578942775726318
1869
+ ],
1870
+ "cam_distance": 2.7582807540893555
1871
+ },
1872
+ {
1873
+ "frame": 98,
1874
+ "take": 1,
1875
+ "manipulation_level": 2,
1876
+ "active_joints": [
1877
+ 0,
1878
+ 1
1879
+ ],
1880
+ "joint_positions": [
1881
+ -0.0,
1882
+ 1.0116993188858032
1883
+ ],
1884
+ "cam_pose": [
1885
+ -2.639387845993042,
1886
+ 0.2595023512840271,
1887
+ 0.7578942775726318
1888
+ ],
1889
+ "cam_distance": 2.7582807540893555
1890
+ },
1891
+ {
1892
+ "frame": 99,
1893
+ "take": 1,
1894
+ "manipulation_level": 2,
1895
+ "active_joints": [
1896
+ 0,
1897
+ 1
1898
+ ],
1899
+ "joint_positions": [
1900
+ -0.0,
1901
+ 1.0383230447769165
1902
+ ],
1903
+ "cam_pose": [
1904
+ -2.639387845993042,
1905
+ 0.2595023512840271,
1906
+ 0.7578942775726318
1907
+ ],
1908
+ "cam_distance": 2.7582807540893555
1909
+ },
1910
+ {
1911
+ "frame": 100,
1912
+ "take": 1,
1913
+ "manipulation_level": 2,
1914
+ "active_joints": [
1915
+ 0,
1916
+ 1
1917
+ ],
1918
+ "joint_positions": [
1919
+ -0.0,
1920
+ 1.0649466514587402
1921
+ ],
1922
+ "cam_pose": [
1923
+ -2.639387845993042,
1924
+ 0.2595023512840271,
1925
+ 0.7578942775726318
1926
+ ],
1927
+ "cam_distance": 2.7582807540893555
1928
+ },
1929
+ {
1930
+ "frame": 101,
1931
+ "take": 1,
1932
+ "manipulation_level": 2,
1933
+ "active_joints": [
1934
+ 0,
1935
+ 1
1936
+ ],
1937
+ "joint_positions": [
1938
+ -0.0,
1939
+ 1.0915703773498535
1940
+ ],
1941
+ "cam_pose": [
1942
+ -2.639387845993042,
1943
+ 0.2595023512840271,
1944
+ 0.7578942775726318
1945
+ ],
1946
+ "cam_distance": 2.7582807540893555
1947
+ },
1948
+ {
1949
+ "frame": 102,
1950
+ "take": 1,
1951
+ "manipulation_level": 2,
1952
+ "active_joints": [
1953
+ 0,
1954
+ 1
1955
+ ],
1956
+ "joint_positions": [
1957
+ -0.0,
1958
+ 1.1181939840316772
1959
+ ],
1960
+ "cam_pose": [
1961
+ -2.639387845993042,
1962
+ 0.2595023512840271,
1963
+ 0.7578942775726318
1964
+ ],
1965
+ "cam_distance": 2.7582807540893555
1966
+ },
1967
+ {
1968
+ "frame": 103,
1969
+ "take": 1,
1970
+ "manipulation_level": 2,
1971
+ "active_joints": [
1972
+ 0,
1973
+ 1
1974
+ ],
1975
+ "joint_positions": [
1976
+ -0.0,
1977
+ 1.1448177099227905
1978
+ ],
1979
+ "cam_pose": [
1980
+ -2.639387845993042,
1981
+ 0.2595023512840271,
1982
+ 0.7578942775726318
1983
+ ],
1984
+ "cam_distance": 2.7582807540893555
1985
+ },
1986
+ {
1987
+ "frame": 104,
1988
+ "take": 1,
1989
+ "manipulation_level": 2,
1990
+ "active_joints": [
1991
+ 0,
1992
+ 1
1993
+ ],
1994
+ "joint_positions": [
1995
+ -0.0,
1996
+ 1.1714413166046143
1997
+ ],
1998
+ "cam_pose": [
1999
+ -2.639387845993042,
2000
+ 0.2595023512840271,
2001
+ 0.7578942775726318
2002
+ ],
2003
+ "cam_distance": 2.7582807540893555
2004
+ },
2005
+ {
2006
+ "frame": 105,
2007
+ "take": 1,
2008
+ "manipulation_level": 2,
2009
+ "active_joints": [
2010
+ 0,
2011
+ 1
2012
+ ],
2013
+ "joint_positions": [
2014
+ -0.0,
2015
+ 1.1980650424957275
2016
+ ],
2017
+ "cam_pose": [
2018
+ -2.639387845993042,
2019
+ 0.2595023512840271,
2020
+ 0.7578942775726318
2021
+ ],
2022
+ "cam_distance": 2.7582807540893555
2023
+ },
2024
+ {
2025
+ "frame": 106,
2026
+ "take": 1,
2027
+ "manipulation_level": 2,
2028
+ "active_joints": [
2029
+ 0,
2030
+ 1
2031
+ ],
2032
+ "joint_positions": [
2033
+ -0.0,
2034
+ 1.2246886491775513
2035
+ ],
2036
+ "cam_pose": [
2037
+ -2.639387845993042,
2038
+ 0.2595023512840271,
2039
+ 0.7578942775726318
2040
+ ],
2041
+ "cam_distance": 2.7582807540893555
2042
+ },
2043
+ {
2044
+ "frame": 107,
2045
+ "take": 1,
2046
+ "manipulation_level": 2,
2047
+ "active_joints": [
2048
+ 0,
2049
+ 1
2050
+ ],
2051
+ "joint_positions": [
2052
+ -0.0,
2053
+ 1.2513123750686646
2054
+ ],
2055
+ "cam_pose": [
2056
+ -2.639387845993042,
2057
+ 0.2595023512840271,
2058
+ 0.7578942775726318
2059
+ ],
2060
+ "cam_distance": 2.7582807540893555
2061
+ },
2062
+ {
2063
+ "frame": 108,
2064
+ "take": 1,
2065
+ "manipulation_level": 2,
2066
+ "active_joints": [
2067
+ 0,
2068
+ 1
2069
+ ],
2070
+ "joint_positions": [
2071
+ -0.0,
2072
+ 1.2779359817504883
2073
+ ],
2074
+ "cam_pose": [
2075
+ -2.639387845993042,
2076
+ 0.2595023512840271,
2077
+ 0.7578942775726318
2078
+ ],
2079
+ "cam_distance": 2.7582807540893555
2080
+ },
2081
+ {
2082
+ "frame": 109,
2083
+ "take": 1,
2084
+ "manipulation_level": 2,
2085
+ "active_joints": [
2086
+ 0,
2087
+ 1
2088
+ ],
2089
+ "joint_positions": [
2090
+ -0.0,
2091
+ 1.3045597076416016
2092
+ ],
2093
+ "cam_pose": [
2094
+ -2.639387845993042,
2095
+ 0.2595023512840271,
2096
+ 0.7578942775726318
2097
+ ],
2098
+ "cam_distance": 2.7582807540893555
2099
+ },
2100
+ {
2101
+ "frame": 110,
2102
+ "take": 1,
2103
+ "manipulation_level": 2,
2104
+ "active_joints": [
2105
+ 0,
2106
+ 1
2107
+ ],
2108
+ "joint_positions": [
2109
+ -0.0,
2110
+ 1.3311833143234253
2111
+ ],
2112
+ "cam_pose": [
2113
+ -2.639387845993042,
2114
+ 0.2595023512840271,
2115
+ 0.7578942775726318
2116
+ ],
2117
+ "cam_distance": 2.7582807540893555
2118
+ },
2119
+ {
2120
+ "frame": 111,
2121
+ "take": 1,
2122
+ "manipulation_level": 2,
2123
+ "active_joints": [
2124
+ 0,
2125
+ 1
2126
+ ],
2127
+ "joint_positions": [
2128
+ -0.0,
2129
+ 1.3578070402145386
2130
+ ],
2131
+ "cam_pose": [
2132
+ -2.639387845993042,
2133
+ 0.2595023512840271,
2134
+ 0.7578942775726318
2135
+ ],
2136
+ "cam_distance": 2.7582807540893555
2137
+ },
2138
+ {
2139
+ "frame": 112,
2140
+ "take": 1,
2141
+ "manipulation_level": 2,
2142
+ "active_joints": [
2143
+ 0,
2144
+ 1
2145
+ ],
2146
+ "joint_positions": [
2147
+ -0.0,
2148
+ 1.3844306468963623
2149
+ ],
2150
+ "cam_pose": [
2151
+ -2.639387845993042,
2152
+ 0.2595023512840271,
2153
+ 0.7578942775726318
2154
+ ],
2155
+ "cam_distance": 2.7582807540893555
2156
+ },
2157
+ {
2158
+ "frame": 113,
2159
+ "take": 1,
2160
+ "manipulation_level": 2,
2161
+ "active_joints": [
2162
+ 0,
2163
+ 1
2164
+ ],
2165
+ "joint_positions": [
2166
+ -0.0,
2167
+ 1.4110543727874756
2168
+ ],
2169
+ "cam_pose": [
2170
+ -2.639387845993042,
2171
+ 0.2595023512840271,
2172
+ 0.7578942775726318
2173
+ ],
2174
+ "cam_distance": 2.7582807540893555
2175
+ },
2176
+ {
2177
+ "frame": 114,
2178
+ "take": 1,
2179
+ "manipulation_level": 2,
2180
+ "active_joints": [
2181
+ 0,
2182
+ 1
2183
+ ],
2184
+ "joint_positions": [
2185
+ -0.0,
2186
+ 1.4376779794692993
2187
+ ],
2188
+ "cam_pose": [
2189
+ -2.639387845993042,
2190
+ 0.2595023512840271,
2191
+ 0.7578942775726318
2192
+ ],
2193
+ "cam_distance": 2.7582807540893555
2194
+ },
2195
+ {
2196
+ "frame": 115,
2197
+ "take": 1,
2198
+ "manipulation_level": 2,
2199
+ "active_joints": [
2200
+ 0,
2201
+ 1
2202
+ ],
2203
+ "joint_positions": [
2204
+ -0.0,
2205
+ 1.4643017053604126
2206
+ ],
2207
+ "cam_pose": [
2208
+ -2.639387845993042,
2209
+ 0.2595023512840271,
2210
+ 0.7578942775726318
2211
+ ],
2212
+ "cam_distance": 2.7582807540893555
2213
+ },
2214
+ {
2215
+ "frame": 116,
2216
+ "take": 1,
2217
+ "manipulation_level": 2,
2218
+ "active_joints": [
2219
+ 0,
2220
+ 1
2221
+ ],
2222
+ "joint_positions": [
2223
+ -0.0,
2224
+ 1.4909253120422363
2225
+ ],
2226
+ "cam_pose": [
2227
+ -2.639387845993042,
2228
+ 0.2595023512840271,
2229
+ 0.7578942775726318
2230
+ ],
2231
+ "cam_distance": 2.7582807540893555
2232
+ },
2233
+ {
2234
+ "frame": 117,
2235
+ "take": 1,
2236
+ "manipulation_level": 2,
2237
+ "active_joints": [
2238
+ 0,
2239
+ 1
2240
+ ],
2241
+ "joint_positions": [
2242
+ -0.0,
2243
+ 1.5175490379333496
2244
+ ],
2245
+ "cam_pose": [
2246
+ -2.639387845993042,
2247
+ 0.2595023512840271,
2248
+ 0.7578942775726318
2249
+ ],
2250
+ "cam_distance": 2.7582807540893555
2251
+ },
2252
+ {
2253
+ "frame": 118,
2254
+ "take": 1,
2255
+ "manipulation_level": 2,
2256
+ "active_joints": [
2257
+ 0,
2258
+ 1
2259
+ ],
2260
+ "joint_positions": [
2261
+ -0.0,
2262
+ 1.5441726446151733
2263
+ ],
2264
+ "cam_pose": [
2265
+ -2.639387845993042,
2266
+ 0.2595023512840271,
2267
+ 0.7578942775726318
2268
+ ],
2269
+ "cam_distance": 2.7582807540893555
2270
+ },
2271
+ {
2272
+ "frame": 119,
2273
+ "take": 1,
2274
+ "manipulation_level": 2,
2275
+ "active_joints": [
2276
+ 0,
2277
+ 1
2278
+ ],
2279
+ "joint_positions": [
2280
+ -0.0,
2281
+ 1.5707963705062866
2282
+ ],
2283
+ "cam_pose": [
2284
+ -2.639387845993042,
2285
+ 0.2595023512840271,
2286
+ 0.7578942775726318
2287
+ ],
2288
+ "cam_distance": 2.7582807540893555
2289
+ }
2290
+ ]
2291
+ }
41003/take_02/metadata.json ADDED
@@ -0,0 +1,2291 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object_id": "41003",
3
+ "manipulation_level": 2,
4
+ "active_joints": [
5
+ 0,
6
+ 1
7
+ ],
8
+ "total_joints": 4,
9
+ "frames": [
10
+ {
11
+ "frame": 0,
12
+ "take": 2,
13
+ "manipulation_level": 2,
14
+ "active_joints": [
15
+ 0,
16
+ 1
17
+ ],
18
+ "joint_positions": [
19
+ 0.0,
20
+ -0.0
21
+ ],
22
+ "cam_pose": [
23
+ -2.646575689315796,
24
+ 0.327321320772171,
25
+ 0.9376270771026611
26
+ ],
27
+ "cam_distance": 2.826773166656494
28
+ },
29
+ {
30
+ "frame": 1,
31
+ "take": 2,
32
+ "manipulation_level": 2,
33
+ "active_joints": [
34
+ 0,
35
+ 1
36
+ ],
37
+ "joint_positions": [
38
+ 0.026623666286468506,
39
+ -0.0
40
+ ],
41
+ "cam_pose": [
42
+ -2.646575689315796,
43
+ 0.327321320772171,
44
+ 0.9376270771026611
45
+ ],
46
+ "cam_distance": 2.826773166656494
47
+ },
48
+ {
49
+ "frame": 2,
50
+ "take": 2,
51
+ "manipulation_level": 2,
52
+ "active_joints": [
53
+ 0,
54
+ 1
55
+ ],
56
+ "joint_positions": [
57
+ 0.05324733257293701,
58
+ -0.0
59
+ ],
60
+ "cam_pose": [
61
+ -2.646575689315796,
62
+ 0.327321320772171,
63
+ 0.9376270771026611
64
+ ],
65
+ "cam_distance": 2.826773166656494
66
+ },
67
+ {
68
+ "frame": 3,
69
+ "take": 2,
70
+ "manipulation_level": 2,
71
+ "active_joints": [
72
+ 0,
73
+ 1
74
+ ],
75
+ "joint_positions": [
76
+ 0.07987099885940552,
77
+ -0.0
78
+ ],
79
+ "cam_pose": [
80
+ -2.646575689315796,
81
+ 0.327321320772171,
82
+ 0.9376270771026611
83
+ ],
84
+ "cam_distance": 2.826773166656494
85
+ },
86
+ {
87
+ "frame": 4,
88
+ "take": 2,
89
+ "manipulation_level": 2,
90
+ "active_joints": [
91
+ 0,
92
+ 1
93
+ ],
94
+ "joint_positions": [
95
+ 0.10649466514587402,
96
+ -0.0
97
+ ],
98
+ "cam_pose": [
99
+ -2.646575689315796,
100
+ 0.327321320772171,
101
+ 0.9376270771026611
102
+ ],
103
+ "cam_distance": 2.826773166656494
104
+ },
105
+ {
106
+ "frame": 5,
107
+ "take": 2,
108
+ "manipulation_level": 2,
109
+ "active_joints": [
110
+ 0,
111
+ 1
112
+ ],
113
+ "joint_positions": [
114
+ 0.13311833143234253,
115
+ -0.0
116
+ ],
117
+ "cam_pose": [
118
+ -2.646575689315796,
119
+ 0.327321320772171,
120
+ 0.9376270771026611
121
+ ],
122
+ "cam_distance": 2.826773166656494
123
+ },
124
+ {
125
+ "frame": 6,
126
+ "take": 2,
127
+ "manipulation_level": 2,
128
+ "active_joints": [
129
+ 0,
130
+ 1
131
+ ],
132
+ "joint_positions": [
133
+ 0.15974199771881104,
134
+ -0.0
135
+ ],
136
+ "cam_pose": [
137
+ -2.646575689315796,
138
+ 0.327321320772171,
139
+ 0.9376270771026611
140
+ ],
141
+ "cam_distance": 2.826773166656494
142
+ },
143
+ {
144
+ "frame": 7,
145
+ "take": 2,
146
+ "manipulation_level": 2,
147
+ "active_joints": [
148
+ 0,
149
+ 1
150
+ ],
151
+ "joint_positions": [
152
+ 0.18636566400527954,
153
+ -0.0
154
+ ],
155
+ "cam_pose": [
156
+ -2.646575689315796,
157
+ 0.327321320772171,
158
+ 0.9376270771026611
159
+ ],
160
+ "cam_distance": 2.826773166656494
161
+ },
162
+ {
163
+ "frame": 8,
164
+ "take": 2,
165
+ "manipulation_level": 2,
166
+ "active_joints": [
167
+ 0,
168
+ 1
169
+ ],
170
+ "joint_positions": [
171
+ 0.21298933029174805,
172
+ -0.0
173
+ ],
174
+ "cam_pose": [
175
+ -2.646575689315796,
176
+ 0.327321320772171,
177
+ 0.9376270771026611
178
+ ],
179
+ "cam_distance": 2.826773166656494
180
+ },
181
+ {
182
+ "frame": 9,
183
+ "take": 2,
184
+ "manipulation_level": 2,
185
+ "active_joints": [
186
+ 0,
187
+ 1
188
+ ],
189
+ "joint_positions": [
190
+ 0.23961299657821655,
191
+ -0.0
192
+ ],
193
+ "cam_pose": [
194
+ -2.646575689315796,
195
+ 0.327321320772171,
196
+ 0.9376270771026611
197
+ ],
198
+ "cam_distance": 2.826773166656494
199
+ },
200
+ {
201
+ "frame": 10,
202
+ "take": 2,
203
+ "manipulation_level": 2,
204
+ "active_joints": [
205
+ 0,
206
+ 1
207
+ ],
208
+ "joint_positions": [
209
+ 0.26623666286468506,
210
+ -0.0
211
+ ],
212
+ "cam_pose": [
213
+ -2.646575689315796,
214
+ 0.327321320772171,
215
+ 0.9376270771026611
216
+ ],
217
+ "cam_distance": 2.826773166656494
218
+ },
219
+ {
220
+ "frame": 11,
221
+ "take": 2,
222
+ "manipulation_level": 2,
223
+ "active_joints": [
224
+ 0,
225
+ 1
226
+ ],
227
+ "joint_positions": [
228
+ 0.29286032915115356,
229
+ -0.0
230
+ ],
231
+ "cam_pose": [
232
+ -2.646575689315796,
233
+ 0.327321320772171,
234
+ 0.9376270771026611
235
+ ],
236
+ "cam_distance": 2.826773166656494
237
+ },
238
+ {
239
+ "frame": 12,
240
+ "take": 2,
241
+ "manipulation_level": 2,
242
+ "active_joints": [
243
+ 0,
244
+ 1
245
+ ],
246
+ "joint_positions": [
247
+ 0.31948399543762207,
248
+ -0.0
249
+ ],
250
+ "cam_pose": [
251
+ -2.646575689315796,
252
+ 0.327321320772171,
253
+ 0.9376270771026611
254
+ ],
255
+ "cam_distance": 2.826773166656494
256
+ },
257
+ {
258
+ "frame": 13,
259
+ "take": 2,
260
+ "manipulation_level": 2,
261
+ "active_joints": [
262
+ 0,
263
+ 1
264
+ ],
265
+ "joint_positions": [
266
+ 0.3461076617240906,
267
+ -0.0
268
+ ],
269
+ "cam_pose": [
270
+ -2.646575689315796,
271
+ 0.327321320772171,
272
+ 0.9376270771026611
273
+ ],
274
+ "cam_distance": 2.826773166656494
275
+ },
276
+ {
277
+ "frame": 14,
278
+ "take": 2,
279
+ "manipulation_level": 2,
280
+ "active_joints": [
281
+ 0,
282
+ 1
283
+ ],
284
+ "joint_positions": [
285
+ 0.3727313280105591,
286
+ -0.0
287
+ ],
288
+ "cam_pose": [
289
+ -2.646575689315796,
290
+ 0.327321320772171,
291
+ 0.9376270771026611
292
+ ],
293
+ "cam_distance": 2.826773166656494
294
+ },
295
+ {
296
+ "frame": 15,
297
+ "take": 2,
298
+ "manipulation_level": 2,
299
+ "active_joints": [
300
+ 0,
301
+ 1
302
+ ],
303
+ "joint_positions": [
304
+ 0.3993549942970276,
305
+ -0.0
306
+ ],
307
+ "cam_pose": [
308
+ -2.646575689315796,
309
+ 0.327321320772171,
310
+ 0.9376270771026611
311
+ ],
312
+ "cam_distance": 2.826773166656494
313
+ },
314
+ {
315
+ "frame": 16,
316
+ "take": 2,
317
+ "manipulation_level": 2,
318
+ "active_joints": [
319
+ 0,
320
+ 1
321
+ ],
322
+ "joint_positions": [
323
+ 0.4259786605834961,
324
+ -0.0
325
+ ],
326
+ "cam_pose": [
327
+ -2.646575689315796,
328
+ 0.327321320772171,
329
+ 0.9376270771026611
330
+ ],
331
+ "cam_distance": 2.826773166656494
332
+ },
333
+ {
334
+ "frame": 17,
335
+ "take": 2,
336
+ "manipulation_level": 2,
337
+ "active_joints": [
338
+ 0,
339
+ 1
340
+ ],
341
+ "joint_positions": [
342
+ 0.4526023268699646,
343
+ -0.0
344
+ ],
345
+ "cam_pose": [
346
+ -2.646575689315796,
347
+ 0.327321320772171,
348
+ 0.9376270771026611
349
+ ],
350
+ "cam_distance": 2.826773166656494
351
+ },
352
+ {
353
+ "frame": 18,
354
+ "take": 2,
355
+ "manipulation_level": 2,
356
+ "active_joints": [
357
+ 0,
358
+ 1
359
+ ],
360
+ "joint_positions": [
361
+ 0.4792259931564331,
362
+ -0.0
363
+ ],
364
+ "cam_pose": [
365
+ -2.646575689315796,
366
+ 0.327321320772171,
367
+ 0.9376270771026611
368
+ ],
369
+ "cam_distance": 2.826773166656494
370
+ },
371
+ {
372
+ "frame": 19,
373
+ "take": 2,
374
+ "manipulation_level": 2,
375
+ "active_joints": [
376
+ 0,
377
+ 1
378
+ ],
379
+ "joint_positions": [
380
+ 0.5058496594429016,
381
+ -0.0
382
+ ],
383
+ "cam_pose": [
384
+ -2.646575689315796,
385
+ 0.327321320772171,
386
+ 0.9376270771026611
387
+ ],
388
+ "cam_distance": 2.826773166656494
389
+ },
390
+ {
391
+ "frame": 20,
392
+ "take": 2,
393
+ "manipulation_level": 2,
394
+ "active_joints": [
395
+ 0,
396
+ 1
397
+ ],
398
+ "joint_positions": [
399
+ 0.5324733257293701,
400
+ -0.0
401
+ ],
402
+ "cam_pose": [
403
+ -2.646575689315796,
404
+ 0.327321320772171,
405
+ 0.9376270771026611
406
+ ],
407
+ "cam_distance": 2.826773166656494
408
+ },
409
+ {
410
+ "frame": 21,
411
+ "take": 2,
412
+ "manipulation_level": 2,
413
+ "active_joints": [
414
+ 0,
415
+ 1
416
+ ],
417
+ "joint_positions": [
418
+ 0.5590969920158386,
419
+ -0.0
420
+ ],
421
+ "cam_pose": [
422
+ -2.646575689315796,
423
+ 0.327321320772171,
424
+ 0.9376270771026611
425
+ ],
426
+ "cam_distance": 2.826773166656494
427
+ },
428
+ {
429
+ "frame": 22,
430
+ "take": 2,
431
+ "manipulation_level": 2,
432
+ "active_joints": [
433
+ 0,
434
+ 1
435
+ ],
436
+ "joint_positions": [
437
+ 0.5857206583023071,
438
+ -0.0
439
+ ],
440
+ "cam_pose": [
441
+ -2.646575689315796,
442
+ 0.327321320772171,
443
+ 0.9376270771026611
444
+ ],
445
+ "cam_distance": 2.826773166656494
446
+ },
447
+ {
448
+ "frame": 23,
449
+ "take": 2,
450
+ "manipulation_level": 2,
451
+ "active_joints": [
452
+ 0,
453
+ 1
454
+ ],
455
+ "joint_positions": [
456
+ 0.6123443245887756,
457
+ -0.0
458
+ ],
459
+ "cam_pose": [
460
+ -2.646575689315796,
461
+ 0.327321320772171,
462
+ 0.9376270771026611
463
+ ],
464
+ "cam_distance": 2.826773166656494
465
+ },
466
+ {
467
+ "frame": 24,
468
+ "take": 2,
469
+ "manipulation_level": 2,
470
+ "active_joints": [
471
+ 0,
472
+ 1
473
+ ],
474
+ "joint_positions": [
475
+ 0.6389679908752441,
476
+ -0.0
477
+ ],
478
+ "cam_pose": [
479
+ -2.646575689315796,
480
+ 0.327321320772171,
481
+ 0.9376270771026611
482
+ ],
483
+ "cam_distance": 2.826773166656494
484
+ },
485
+ {
486
+ "frame": 25,
487
+ "take": 2,
488
+ "manipulation_level": 2,
489
+ "active_joints": [
490
+ 0,
491
+ 1
492
+ ],
493
+ "joint_positions": [
494
+ 0.6655916571617126,
495
+ -0.0
496
+ ],
497
+ "cam_pose": [
498
+ -2.646575689315796,
499
+ 0.327321320772171,
500
+ 0.9376270771026611
501
+ ],
502
+ "cam_distance": 2.826773166656494
503
+ },
504
+ {
505
+ "frame": 26,
506
+ "take": 2,
507
+ "manipulation_level": 2,
508
+ "active_joints": [
509
+ 0,
510
+ 1
511
+ ],
512
+ "joint_positions": [
513
+ 0.6922153234481812,
514
+ -0.0
515
+ ],
516
+ "cam_pose": [
517
+ -2.646575689315796,
518
+ 0.327321320772171,
519
+ 0.9376270771026611
520
+ ],
521
+ "cam_distance": 2.826773166656494
522
+ },
523
+ {
524
+ "frame": 27,
525
+ "take": 2,
526
+ "manipulation_level": 2,
527
+ "active_joints": [
528
+ 0,
529
+ 1
530
+ ],
531
+ "joint_positions": [
532
+ 0.7188389897346497,
533
+ -0.0
534
+ ],
535
+ "cam_pose": [
536
+ -2.646575689315796,
537
+ 0.327321320772171,
538
+ 0.9376270771026611
539
+ ],
540
+ "cam_distance": 2.826773166656494
541
+ },
542
+ {
543
+ "frame": 28,
544
+ "take": 2,
545
+ "manipulation_level": 2,
546
+ "active_joints": [
547
+ 0,
548
+ 1
549
+ ],
550
+ "joint_positions": [
551
+ 0.7454626560211182,
552
+ -0.0
553
+ ],
554
+ "cam_pose": [
555
+ -2.646575689315796,
556
+ 0.327321320772171,
557
+ 0.9376270771026611
558
+ ],
559
+ "cam_distance": 2.826773166656494
560
+ },
561
+ {
562
+ "frame": 29,
563
+ "take": 2,
564
+ "manipulation_level": 2,
565
+ "active_joints": [
566
+ 0,
567
+ 1
568
+ ],
569
+ "joint_positions": [
570
+ 0.7720863223075867,
571
+ -0.0
572
+ ],
573
+ "cam_pose": [
574
+ -2.646575689315796,
575
+ 0.327321320772171,
576
+ 0.9376270771026611
577
+ ],
578
+ "cam_distance": 2.826773166656494
579
+ },
580
+ {
581
+ "frame": 30,
582
+ "take": 2,
583
+ "manipulation_level": 2,
584
+ "active_joints": [
585
+ 0,
586
+ 1
587
+ ],
588
+ "joint_positions": [
589
+ 0.7987099885940552,
590
+ -0.0
591
+ ],
592
+ "cam_pose": [
593
+ -2.646575689315796,
594
+ 0.327321320772171,
595
+ 0.9376270771026611
596
+ ],
597
+ "cam_distance": 2.826773166656494
598
+ },
599
+ {
600
+ "frame": 31,
601
+ "take": 2,
602
+ "manipulation_level": 2,
603
+ "active_joints": [
604
+ 0,
605
+ 1
606
+ ],
607
+ "joint_positions": [
608
+ 0.8253336548805237,
609
+ -0.0
610
+ ],
611
+ "cam_pose": [
612
+ -2.646575689315796,
613
+ 0.327321320772171,
614
+ 0.9376270771026611
615
+ ],
616
+ "cam_distance": 2.826773166656494
617
+ },
618
+ {
619
+ "frame": 32,
620
+ "take": 2,
621
+ "manipulation_level": 2,
622
+ "active_joints": [
623
+ 0,
624
+ 1
625
+ ],
626
+ "joint_positions": [
627
+ 0.8519573211669922,
628
+ -0.0
629
+ ],
630
+ "cam_pose": [
631
+ -2.646575689315796,
632
+ 0.327321320772171,
633
+ 0.9376270771026611
634
+ ],
635
+ "cam_distance": 2.826773166656494
636
+ },
637
+ {
638
+ "frame": 33,
639
+ "take": 2,
640
+ "manipulation_level": 2,
641
+ "active_joints": [
642
+ 0,
643
+ 1
644
+ ],
645
+ "joint_positions": [
646
+ 0.8785809874534607,
647
+ -0.0
648
+ ],
649
+ "cam_pose": [
650
+ -2.646575689315796,
651
+ 0.327321320772171,
652
+ 0.9376270771026611
653
+ ],
654
+ "cam_distance": 2.826773166656494
655
+ },
656
+ {
657
+ "frame": 34,
658
+ "take": 2,
659
+ "manipulation_level": 2,
660
+ "active_joints": [
661
+ 0,
662
+ 1
663
+ ],
664
+ "joint_positions": [
665
+ 0.9052046537399292,
666
+ -0.0
667
+ ],
668
+ "cam_pose": [
669
+ -2.646575689315796,
670
+ 0.327321320772171,
671
+ 0.9376270771026611
672
+ ],
673
+ "cam_distance": 2.826773166656494
674
+ },
675
+ {
676
+ "frame": 35,
677
+ "take": 2,
678
+ "manipulation_level": 2,
679
+ "active_joints": [
680
+ 0,
681
+ 1
682
+ ],
683
+ "joint_positions": [
684
+ 0.9318283200263977,
685
+ -0.0
686
+ ],
687
+ "cam_pose": [
688
+ -2.646575689315796,
689
+ 0.327321320772171,
690
+ 0.9376270771026611
691
+ ],
692
+ "cam_distance": 2.826773166656494
693
+ },
694
+ {
695
+ "frame": 36,
696
+ "take": 2,
697
+ "manipulation_level": 2,
698
+ "active_joints": [
699
+ 0,
700
+ 1
701
+ ],
702
+ "joint_positions": [
703
+ 0.9584519863128662,
704
+ -0.0
705
+ ],
706
+ "cam_pose": [
707
+ -2.646575689315796,
708
+ 0.327321320772171,
709
+ 0.9376270771026611
710
+ ],
711
+ "cam_distance": 2.826773166656494
712
+ },
713
+ {
714
+ "frame": 37,
715
+ "take": 2,
716
+ "manipulation_level": 2,
717
+ "active_joints": [
718
+ 0,
719
+ 1
720
+ ],
721
+ "joint_positions": [
722
+ 0.9850756525993347,
723
+ -0.0
724
+ ],
725
+ "cam_pose": [
726
+ -2.646575689315796,
727
+ 0.327321320772171,
728
+ 0.9376270771026611
729
+ ],
730
+ "cam_distance": 2.826773166656494
731
+ },
732
+ {
733
+ "frame": 38,
734
+ "take": 2,
735
+ "manipulation_level": 2,
736
+ "active_joints": [
737
+ 0,
738
+ 1
739
+ ],
740
+ "joint_positions": [
741
+ 1.0116993188858032,
742
+ -0.0
743
+ ],
744
+ "cam_pose": [
745
+ -2.646575689315796,
746
+ 0.327321320772171,
747
+ 0.9376270771026611
748
+ ],
749
+ "cam_distance": 2.826773166656494
750
+ },
751
+ {
752
+ "frame": 39,
753
+ "take": 2,
754
+ "manipulation_level": 2,
755
+ "active_joints": [
756
+ 0,
757
+ 1
758
+ ],
759
+ "joint_positions": [
760
+ 1.0383230447769165,
761
+ -0.0
762
+ ],
763
+ "cam_pose": [
764
+ -2.646575689315796,
765
+ 0.327321320772171,
766
+ 0.9376270771026611
767
+ ],
768
+ "cam_distance": 2.826773166656494
769
+ },
770
+ {
771
+ "frame": 40,
772
+ "take": 2,
773
+ "manipulation_level": 2,
774
+ "active_joints": [
775
+ 0,
776
+ 1
777
+ ],
778
+ "joint_positions": [
779
+ 1.0649466514587402,
780
+ -0.0
781
+ ],
782
+ "cam_pose": [
783
+ -2.646575689315796,
784
+ 0.327321320772171,
785
+ 0.9376270771026611
786
+ ],
787
+ "cam_distance": 2.826773166656494
788
+ },
789
+ {
790
+ "frame": 41,
791
+ "take": 2,
792
+ "manipulation_level": 2,
793
+ "active_joints": [
794
+ 0,
795
+ 1
796
+ ],
797
+ "joint_positions": [
798
+ 1.0915703773498535,
799
+ -0.0
800
+ ],
801
+ "cam_pose": [
802
+ -2.646575689315796,
803
+ 0.327321320772171,
804
+ 0.9376270771026611
805
+ ],
806
+ "cam_distance": 2.826773166656494
807
+ },
808
+ {
809
+ "frame": 42,
810
+ "take": 2,
811
+ "manipulation_level": 2,
812
+ "active_joints": [
813
+ 0,
814
+ 1
815
+ ],
816
+ "joint_positions": [
817
+ 1.1181939840316772,
818
+ -0.0
819
+ ],
820
+ "cam_pose": [
821
+ -2.646575689315796,
822
+ 0.327321320772171,
823
+ 0.9376270771026611
824
+ ],
825
+ "cam_distance": 2.826773166656494
826
+ },
827
+ {
828
+ "frame": 43,
829
+ "take": 2,
830
+ "manipulation_level": 2,
831
+ "active_joints": [
832
+ 0,
833
+ 1
834
+ ],
835
+ "joint_positions": [
836
+ 1.1448177099227905,
837
+ -0.0
838
+ ],
839
+ "cam_pose": [
840
+ -2.646575689315796,
841
+ 0.327321320772171,
842
+ 0.9376270771026611
843
+ ],
844
+ "cam_distance": 2.826773166656494
845
+ },
846
+ {
847
+ "frame": 44,
848
+ "take": 2,
849
+ "manipulation_level": 2,
850
+ "active_joints": [
851
+ 0,
852
+ 1
853
+ ],
854
+ "joint_positions": [
855
+ 1.1714413166046143,
856
+ -0.0
857
+ ],
858
+ "cam_pose": [
859
+ -2.646575689315796,
860
+ 0.327321320772171,
861
+ 0.9376270771026611
862
+ ],
863
+ "cam_distance": 2.826773166656494
864
+ },
865
+ {
866
+ "frame": 45,
867
+ "take": 2,
868
+ "manipulation_level": 2,
869
+ "active_joints": [
870
+ 0,
871
+ 1
872
+ ],
873
+ "joint_positions": [
874
+ 1.1980650424957275,
875
+ -0.0
876
+ ],
877
+ "cam_pose": [
878
+ -2.646575689315796,
879
+ 0.327321320772171,
880
+ 0.9376270771026611
881
+ ],
882
+ "cam_distance": 2.826773166656494
883
+ },
884
+ {
885
+ "frame": 46,
886
+ "take": 2,
887
+ "manipulation_level": 2,
888
+ "active_joints": [
889
+ 0,
890
+ 1
891
+ ],
892
+ "joint_positions": [
893
+ 1.2246886491775513,
894
+ -0.0
895
+ ],
896
+ "cam_pose": [
897
+ -2.646575689315796,
898
+ 0.327321320772171,
899
+ 0.9376270771026611
900
+ ],
901
+ "cam_distance": 2.826773166656494
902
+ },
903
+ {
904
+ "frame": 47,
905
+ "take": 2,
906
+ "manipulation_level": 2,
907
+ "active_joints": [
908
+ 0,
909
+ 1
910
+ ],
911
+ "joint_positions": [
912
+ 1.2513123750686646,
913
+ -0.0
914
+ ],
915
+ "cam_pose": [
916
+ -2.646575689315796,
917
+ 0.327321320772171,
918
+ 0.9376270771026611
919
+ ],
920
+ "cam_distance": 2.826773166656494
921
+ },
922
+ {
923
+ "frame": 48,
924
+ "take": 2,
925
+ "manipulation_level": 2,
926
+ "active_joints": [
927
+ 0,
928
+ 1
929
+ ],
930
+ "joint_positions": [
931
+ 1.2779359817504883,
932
+ -0.0
933
+ ],
934
+ "cam_pose": [
935
+ -2.646575689315796,
936
+ 0.327321320772171,
937
+ 0.9376270771026611
938
+ ],
939
+ "cam_distance": 2.826773166656494
940
+ },
941
+ {
942
+ "frame": 49,
943
+ "take": 2,
944
+ "manipulation_level": 2,
945
+ "active_joints": [
946
+ 0,
947
+ 1
948
+ ],
949
+ "joint_positions": [
950
+ 1.3045597076416016,
951
+ -0.0
952
+ ],
953
+ "cam_pose": [
954
+ -2.646575689315796,
955
+ 0.327321320772171,
956
+ 0.9376270771026611
957
+ ],
958
+ "cam_distance": 2.826773166656494
959
+ },
960
+ {
961
+ "frame": 50,
962
+ "take": 2,
963
+ "manipulation_level": 2,
964
+ "active_joints": [
965
+ 0,
966
+ 1
967
+ ],
968
+ "joint_positions": [
969
+ 1.3311833143234253,
970
+ -0.0
971
+ ],
972
+ "cam_pose": [
973
+ -2.646575689315796,
974
+ 0.327321320772171,
975
+ 0.9376270771026611
976
+ ],
977
+ "cam_distance": 2.826773166656494
978
+ },
979
+ {
980
+ "frame": 51,
981
+ "take": 2,
982
+ "manipulation_level": 2,
983
+ "active_joints": [
984
+ 0,
985
+ 1
986
+ ],
987
+ "joint_positions": [
988
+ 1.3578070402145386,
989
+ -0.0
990
+ ],
991
+ "cam_pose": [
992
+ -2.646575689315796,
993
+ 0.327321320772171,
994
+ 0.9376270771026611
995
+ ],
996
+ "cam_distance": 2.826773166656494
997
+ },
998
+ {
999
+ "frame": 52,
1000
+ "take": 2,
1001
+ "manipulation_level": 2,
1002
+ "active_joints": [
1003
+ 0,
1004
+ 1
1005
+ ],
1006
+ "joint_positions": [
1007
+ 1.3844306468963623,
1008
+ -0.0
1009
+ ],
1010
+ "cam_pose": [
1011
+ -2.646575689315796,
1012
+ 0.327321320772171,
1013
+ 0.9376270771026611
1014
+ ],
1015
+ "cam_distance": 2.826773166656494
1016
+ },
1017
+ {
1018
+ "frame": 53,
1019
+ "take": 2,
1020
+ "manipulation_level": 2,
1021
+ "active_joints": [
1022
+ 0,
1023
+ 1
1024
+ ],
1025
+ "joint_positions": [
1026
+ 1.4110543727874756,
1027
+ -0.0
1028
+ ],
1029
+ "cam_pose": [
1030
+ -2.646575689315796,
1031
+ 0.327321320772171,
1032
+ 0.9376270771026611
1033
+ ],
1034
+ "cam_distance": 2.826773166656494
1035
+ },
1036
+ {
1037
+ "frame": 54,
1038
+ "take": 2,
1039
+ "manipulation_level": 2,
1040
+ "active_joints": [
1041
+ 0,
1042
+ 1
1043
+ ],
1044
+ "joint_positions": [
1045
+ 1.4376779794692993,
1046
+ -0.0
1047
+ ],
1048
+ "cam_pose": [
1049
+ -2.646575689315796,
1050
+ 0.327321320772171,
1051
+ 0.9376270771026611
1052
+ ],
1053
+ "cam_distance": 2.826773166656494
1054
+ },
1055
+ {
1056
+ "frame": 55,
1057
+ "take": 2,
1058
+ "manipulation_level": 2,
1059
+ "active_joints": [
1060
+ 0,
1061
+ 1
1062
+ ],
1063
+ "joint_positions": [
1064
+ 1.4643017053604126,
1065
+ -0.0
1066
+ ],
1067
+ "cam_pose": [
1068
+ -2.646575689315796,
1069
+ 0.327321320772171,
1070
+ 0.9376270771026611
1071
+ ],
1072
+ "cam_distance": 2.826773166656494
1073
+ },
1074
+ {
1075
+ "frame": 56,
1076
+ "take": 2,
1077
+ "manipulation_level": 2,
1078
+ "active_joints": [
1079
+ 0,
1080
+ 1
1081
+ ],
1082
+ "joint_positions": [
1083
+ 1.4909253120422363,
1084
+ -0.0
1085
+ ],
1086
+ "cam_pose": [
1087
+ -2.646575689315796,
1088
+ 0.327321320772171,
1089
+ 0.9376270771026611
1090
+ ],
1091
+ "cam_distance": 2.826773166656494
1092
+ },
1093
+ {
1094
+ "frame": 57,
1095
+ "take": 2,
1096
+ "manipulation_level": 2,
1097
+ "active_joints": [
1098
+ 0,
1099
+ 1
1100
+ ],
1101
+ "joint_positions": [
1102
+ 1.5175490379333496,
1103
+ -0.0
1104
+ ],
1105
+ "cam_pose": [
1106
+ -2.646575689315796,
1107
+ 0.327321320772171,
1108
+ 0.9376270771026611
1109
+ ],
1110
+ "cam_distance": 2.826773166656494
1111
+ },
1112
+ {
1113
+ "frame": 58,
1114
+ "take": 2,
1115
+ "manipulation_level": 2,
1116
+ "active_joints": [
1117
+ 0,
1118
+ 1
1119
+ ],
1120
+ "joint_positions": [
1121
+ 1.5441726446151733,
1122
+ -0.0
1123
+ ],
1124
+ "cam_pose": [
1125
+ -2.646575689315796,
1126
+ 0.327321320772171,
1127
+ 0.9376270771026611
1128
+ ],
1129
+ "cam_distance": 2.826773166656494
1130
+ },
1131
+ {
1132
+ "frame": 59,
1133
+ "take": 2,
1134
+ "manipulation_level": 2,
1135
+ "active_joints": [
1136
+ 0,
1137
+ 1
1138
+ ],
1139
+ "joint_positions": [
1140
+ 1.5707963705062866,
1141
+ -0.0
1142
+ ],
1143
+ "cam_pose": [
1144
+ -2.646575689315796,
1145
+ 0.327321320772171,
1146
+ 0.9376270771026611
1147
+ ],
1148
+ "cam_distance": 2.826773166656494
1149
+ },
1150
+ {
1151
+ "frame": 60,
1152
+ "take": 2,
1153
+ "manipulation_level": 2,
1154
+ "active_joints": [
1155
+ 0,
1156
+ 1
1157
+ ],
1158
+ "joint_positions": [
1159
+ -0.0,
1160
+ 0.0
1161
+ ],
1162
+ "cam_pose": [
1163
+ -2.646575689315796,
1164
+ 0.327321320772171,
1165
+ 0.9376270771026611
1166
+ ],
1167
+ "cam_distance": 2.826773166656494
1168
+ },
1169
+ {
1170
+ "frame": 61,
1171
+ "take": 2,
1172
+ "manipulation_level": 2,
1173
+ "active_joints": [
1174
+ 0,
1175
+ 1
1176
+ ],
1177
+ "joint_positions": [
1178
+ -0.0,
1179
+ 0.026623666286468506
1180
+ ],
1181
+ "cam_pose": [
1182
+ -2.646575689315796,
1183
+ 0.327321320772171,
1184
+ 0.9376270771026611
1185
+ ],
1186
+ "cam_distance": 2.826773166656494
1187
+ },
1188
+ {
1189
+ "frame": 62,
1190
+ "take": 2,
1191
+ "manipulation_level": 2,
1192
+ "active_joints": [
1193
+ 0,
1194
+ 1
1195
+ ],
1196
+ "joint_positions": [
1197
+ -0.0,
1198
+ 0.05324733257293701
1199
+ ],
1200
+ "cam_pose": [
1201
+ -2.646575689315796,
1202
+ 0.327321320772171,
1203
+ 0.9376270771026611
1204
+ ],
1205
+ "cam_distance": 2.826773166656494
1206
+ },
1207
+ {
1208
+ "frame": 63,
1209
+ "take": 2,
1210
+ "manipulation_level": 2,
1211
+ "active_joints": [
1212
+ 0,
1213
+ 1
1214
+ ],
1215
+ "joint_positions": [
1216
+ -0.0,
1217
+ 0.07987099885940552
1218
+ ],
1219
+ "cam_pose": [
1220
+ -2.646575689315796,
1221
+ 0.327321320772171,
1222
+ 0.9376270771026611
1223
+ ],
1224
+ "cam_distance": 2.826773166656494
1225
+ },
1226
+ {
1227
+ "frame": 64,
1228
+ "take": 2,
1229
+ "manipulation_level": 2,
1230
+ "active_joints": [
1231
+ 0,
1232
+ 1
1233
+ ],
1234
+ "joint_positions": [
1235
+ -0.0,
1236
+ 0.10649466514587402
1237
+ ],
1238
+ "cam_pose": [
1239
+ -2.646575689315796,
1240
+ 0.327321320772171,
1241
+ 0.9376270771026611
1242
+ ],
1243
+ "cam_distance": 2.826773166656494
1244
+ },
1245
+ {
1246
+ "frame": 65,
1247
+ "take": 2,
1248
+ "manipulation_level": 2,
1249
+ "active_joints": [
1250
+ 0,
1251
+ 1
1252
+ ],
1253
+ "joint_positions": [
1254
+ -0.0,
1255
+ 0.13311833143234253
1256
+ ],
1257
+ "cam_pose": [
1258
+ -2.646575689315796,
1259
+ 0.327321320772171,
1260
+ 0.9376270771026611
1261
+ ],
1262
+ "cam_distance": 2.826773166656494
1263
+ },
1264
+ {
1265
+ "frame": 66,
1266
+ "take": 2,
1267
+ "manipulation_level": 2,
1268
+ "active_joints": [
1269
+ 0,
1270
+ 1
1271
+ ],
1272
+ "joint_positions": [
1273
+ -0.0,
1274
+ 0.15974199771881104
1275
+ ],
1276
+ "cam_pose": [
1277
+ -2.646575689315796,
1278
+ 0.327321320772171,
1279
+ 0.9376270771026611
1280
+ ],
1281
+ "cam_distance": 2.826773166656494
1282
+ },
1283
+ {
1284
+ "frame": 67,
1285
+ "take": 2,
1286
+ "manipulation_level": 2,
1287
+ "active_joints": [
1288
+ 0,
1289
+ 1
1290
+ ],
1291
+ "joint_positions": [
1292
+ -0.0,
1293
+ 0.18636566400527954
1294
+ ],
1295
+ "cam_pose": [
1296
+ -2.646575689315796,
1297
+ 0.327321320772171,
1298
+ 0.9376270771026611
1299
+ ],
1300
+ "cam_distance": 2.826773166656494
1301
+ },
1302
+ {
1303
+ "frame": 68,
1304
+ "take": 2,
1305
+ "manipulation_level": 2,
1306
+ "active_joints": [
1307
+ 0,
1308
+ 1
1309
+ ],
1310
+ "joint_positions": [
1311
+ -0.0,
1312
+ 0.21298933029174805
1313
+ ],
1314
+ "cam_pose": [
1315
+ -2.646575689315796,
1316
+ 0.327321320772171,
1317
+ 0.9376270771026611
1318
+ ],
1319
+ "cam_distance": 2.826773166656494
1320
+ },
1321
+ {
1322
+ "frame": 69,
1323
+ "take": 2,
1324
+ "manipulation_level": 2,
1325
+ "active_joints": [
1326
+ 0,
1327
+ 1
1328
+ ],
1329
+ "joint_positions": [
1330
+ -0.0,
1331
+ 0.23961299657821655
1332
+ ],
1333
+ "cam_pose": [
1334
+ -2.646575689315796,
1335
+ 0.327321320772171,
1336
+ 0.9376270771026611
1337
+ ],
1338
+ "cam_distance": 2.826773166656494
1339
+ },
1340
+ {
1341
+ "frame": 70,
1342
+ "take": 2,
1343
+ "manipulation_level": 2,
1344
+ "active_joints": [
1345
+ 0,
1346
+ 1
1347
+ ],
1348
+ "joint_positions": [
1349
+ -0.0,
1350
+ 0.26623666286468506
1351
+ ],
1352
+ "cam_pose": [
1353
+ -2.646575689315796,
1354
+ 0.327321320772171,
1355
+ 0.9376270771026611
1356
+ ],
1357
+ "cam_distance": 2.826773166656494
1358
+ },
1359
+ {
1360
+ "frame": 71,
1361
+ "take": 2,
1362
+ "manipulation_level": 2,
1363
+ "active_joints": [
1364
+ 0,
1365
+ 1
1366
+ ],
1367
+ "joint_positions": [
1368
+ -0.0,
1369
+ 0.29286032915115356
1370
+ ],
1371
+ "cam_pose": [
1372
+ -2.646575689315796,
1373
+ 0.327321320772171,
1374
+ 0.9376270771026611
1375
+ ],
1376
+ "cam_distance": 2.826773166656494
1377
+ },
1378
+ {
1379
+ "frame": 72,
1380
+ "take": 2,
1381
+ "manipulation_level": 2,
1382
+ "active_joints": [
1383
+ 0,
1384
+ 1
1385
+ ],
1386
+ "joint_positions": [
1387
+ -0.0,
1388
+ 0.31948399543762207
1389
+ ],
1390
+ "cam_pose": [
1391
+ -2.646575689315796,
1392
+ 0.327321320772171,
1393
+ 0.9376270771026611
1394
+ ],
1395
+ "cam_distance": 2.826773166656494
1396
+ },
1397
+ {
1398
+ "frame": 73,
1399
+ "take": 2,
1400
+ "manipulation_level": 2,
1401
+ "active_joints": [
1402
+ 0,
1403
+ 1
1404
+ ],
1405
+ "joint_positions": [
1406
+ -0.0,
1407
+ 0.3461076617240906
1408
+ ],
1409
+ "cam_pose": [
1410
+ -2.646575689315796,
1411
+ 0.327321320772171,
1412
+ 0.9376270771026611
1413
+ ],
1414
+ "cam_distance": 2.826773166656494
1415
+ },
1416
+ {
1417
+ "frame": 74,
1418
+ "take": 2,
1419
+ "manipulation_level": 2,
1420
+ "active_joints": [
1421
+ 0,
1422
+ 1
1423
+ ],
1424
+ "joint_positions": [
1425
+ -0.0,
1426
+ 0.3727313280105591
1427
+ ],
1428
+ "cam_pose": [
1429
+ -2.646575689315796,
1430
+ 0.327321320772171,
1431
+ 0.9376270771026611
1432
+ ],
1433
+ "cam_distance": 2.826773166656494
1434
+ },
1435
+ {
1436
+ "frame": 75,
1437
+ "take": 2,
1438
+ "manipulation_level": 2,
1439
+ "active_joints": [
1440
+ 0,
1441
+ 1
1442
+ ],
1443
+ "joint_positions": [
1444
+ -0.0,
1445
+ 0.3993549942970276
1446
+ ],
1447
+ "cam_pose": [
1448
+ -2.646575689315796,
1449
+ 0.327321320772171,
1450
+ 0.9376270771026611
1451
+ ],
1452
+ "cam_distance": 2.826773166656494
1453
+ },
1454
+ {
1455
+ "frame": 76,
1456
+ "take": 2,
1457
+ "manipulation_level": 2,
1458
+ "active_joints": [
1459
+ 0,
1460
+ 1
1461
+ ],
1462
+ "joint_positions": [
1463
+ -0.0,
1464
+ 0.4259786605834961
1465
+ ],
1466
+ "cam_pose": [
1467
+ -2.646575689315796,
1468
+ 0.327321320772171,
1469
+ 0.9376270771026611
1470
+ ],
1471
+ "cam_distance": 2.826773166656494
1472
+ },
1473
+ {
1474
+ "frame": 77,
1475
+ "take": 2,
1476
+ "manipulation_level": 2,
1477
+ "active_joints": [
1478
+ 0,
1479
+ 1
1480
+ ],
1481
+ "joint_positions": [
1482
+ -0.0,
1483
+ 0.4526023268699646
1484
+ ],
1485
+ "cam_pose": [
1486
+ -2.646575689315796,
1487
+ 0.327321320772171,
1488
+ 0.9376270771026611
1489
+ ],
1490
+ "cam_distance": 2.826773166656494
1491
+ },
1492
+ {
1493
+ "frame": 78,
1494
+ "take": 2,
1495
+ "manipulation_level": 2,
1496
+ "active_joints": [
1497
+ 0,
1498
+ 1
1499
+ ],
1500
+ "joint_positions": [
1501
+ -0.0,
1502
+ 0.4792259931564331
1503
+ ],
1504
+ "cam_pose": [
1505
+ -2.646575689315796,
1506
+ 0.327321320772171,
1507
+ 0.9376270771026611
1508
+ ],
1509
+ "cam_distance": 2.826773166656494
1510
+ },
1511
+ {
1512
+ "frame": 79,
1513
+ "take": 2,
1514
+ "manipulation_level": 2,
1515
+ "active_joints": [
1516
+ 0,
1517
+ 1
1518
+ ],
1519
+ "joint_positions": [
1520
+ -0.0,
1521
+ 0.5058496594429016
1522
+ ],
1523
+ "cam_pose": [
1524
+ -2.646575689315796,
1525
+ 0.327321320772171,
1526
+ 0.9376270771026611
1527
+ ],
1528
+ "cam_distance": 2.826773166656494
1529
+ },
1530
+ {
1531
+ "frame": 80,
1532
+ "take": 2,
1533
+ "manipulation_level": 2,
1534
+ "active_joints": [
1535
+ 0,
1536
+ 1
1537
+ ],
1538
+ "joint_positions": [
1539
+ -0.0,
1540
+ 0.5324733257293701
1541
+ ],
1542
+ "cam_pose": [
1543
+ -2.646575689315796,
1544
+ 0.327321320772171,
1545
+ 0.9376270771026611
1546
+ ],
1547
+ "cam_distance": 2.826773166656494
1548
+ },
1549
+ {
1550
+ "frame": 81,
1551
+ "take": 2,
1552
+ "manipulation_level": 2,
1553
+ "active_joints": [
1554
+ 0,
1555
+ 1
1556
+ ],
1557
+ "joint_positions": [
1558
+ -0.0,
1559
+ 0.5590969920158386
1560
+ ],
1561
+ "cam_pose": [
1562
+ -2.646575689315796,
1563
+ 0.327321320772171,
1564
+ 0.9376270771026611
1565
+ ],
1566
+ "cam_distance": 2.826773166656494
1567
+ },
1568
+ {
1569
+ "frame": 82,
1570
+ "take": 2,
1571
+ "manipulation_level": 2,
1572
+ "active_joints": [
1573
+ 0,
1574
+ 1
1575
+ ],
1576
+ "joint_positions": [
1577
+ -0.0,
1578
+ 0.5857206583023071
1579
+ ],
1580
+ "cam_pose": [
1581
+ -2.646575689315796,
1582
+ 0.327321320772171,
1583
+ 0.9376270771026611
1584
+ ],
1585
+ "cam_distance": 2.826773166656494
1586
+ },
1587
+ {
1588
+ "frame": 83,
1589
+ "take": 2,
1590
+ "manipulation_level": 2,
1591
+ "active_joints": [
1592
+ 0,
1593
+ 1
1594
+ ],
1595
+ "joint_positions": [
1596
+ -0.0,
1597
+ 0.6123443245887756
1598
+ ],
1599
+ "cam_pose": [
1600
+ -2.646575689315796,
1601
+ 0.327321320772171,
1602
+ 0.9376270771026611
1603
+ ],
1604
+ "cam_distance": 2.826773166656494
1605
+ },
1606
+ {
1607
+ "frame": 84,
1608
+ "take": 2,
1609
+ "manipulation_level": 2,
1610
+ "active_joints": [
1611
+ 0,
1612
+ 1
1613
+ ],
1614
+ "joint_positions": [
1615
+ -0.0,
1616
+ 0.6389679908752441
1617
+ ],
1618
+ "cam_pose": [
1619
+ -2.646575689315796,
1620
+ 0.327321320772171,
1621
+ 0.9376270771026611
1622
+ ],
1623
+ "cam_distance": 2.826773166656494
1624
+ },
1625
+ {
1626
+ "frame": 85,
1627
+ "take": 2,
1628
+ "manipulation_level": 2,
1629
+ "active_joints": [
1630
+ 0,
1631
+ 1
1632
+ ],
1633
+ "joint_positions": [
1634
+ -0.0,
1635
+ 0.6655916571617126
1636
+ ],
1637
+ "cam_pose": [
1638
+ -2.646575689315796,
1639
+ 0.327321320772171,
1640
+ 0.9376270771026611
1641
+ ],
1642
+ "cam_distance": 2.826773166656494
1643
+ },
1644
+ {
1645
+ "frame": 86,
1646
+ "take": 2,
1647
+ "manipulation_level": 2,
1648
+ "active_joints": [
1649
+ 0,
1650
+ 1
1651
+ ],
1652
+ "joint_positions": [
1653
+ -0.0,
1654
+ 0.6922153234481812
1655
+ ],
1656
+ "cam_pose": [
1657
+ -2.646575689315796,
1658
+ 0.327321320772171,
1659
+ 0.9376270771026611
1660
+ ],
1661
+ "cam_distance": 2.826773166656494
1662
+ },
1663
+ {
1664
+ "frame": 87,
1665
+ "take": 2,
1666
+ "manipulation_level": 2,
1667
+ "active_joints": [
1668
+ 0,
1669
+ 1
1670
+ ],
1671
+ "joint_positions": [
1672
+ -0.0,
1673
+ 0.7188389897346497
1674
+ ],
1675
+ "cam_pose": [
1676
+ -2.646575689315796,
1677
+ 0.327321320772171,
1678
+ 0.9376270771026611
1679
+ ],
1680
+ "cam_distance": 2.826773166656494
1681
+ },
1682
+ {
1683
+ "frame": 88,
1684
+ "take": 2,
1685
+ "manipulation_level": 2,
1686
+ "active_joints": [
1687
+ 0,
1688
+ 1
1689
+ ],
1690
+ "joint_positions": [
1691
+ -0.0,
1692
+ 0.7454626560211182
1693
+ ],
1694
+ "cam_pose": [
1695
+ -2.646575689315796,
1696
+ 0.327321320772171,
1697
+ 0.9376270771026611
1698
+ ],
1699
+ "cam_distance": 2.826773166656494
1700
+ },
1701
+ {
1702
+ "frame": 89,
1703
+ "take": 2,
1704
+ "manipulation_level": 2,
1705
+ "active_joints": [
1706
+ 0,
1707
+ 1
1708
+ ],
1709
+ "joint_positions": [
1710
+ -0.0,
1711
+ 0.7720863223075867
1712
+ ],
1713
+ "cam_pose": [
1714
+ -2.646575689315796,
1715
+ 0.327321320772171,
1716
+ 0.9376270771026611
1717
+ ],
1718
+ "cam_distance": 2.826773166656494
1719
+ },
1720
+ {
1721
+ "frame": 90,
1722
+ "take": 2,
1723
+ "manipulation_level": 2,
1724
+ "active_joints": [
1725
+ 0,
1726
+ 1
1727
+ ],
1728
+ "joint_positions": [
1729
+ -0.0,
1730
+ 0.7987099885940552
1731
+ ],
1732
+ "cam_pose": [
1733
+ -2.646575689315796,
1734
+ 0.327321320772171,
1735
+ 0.9376270771026611
1736
+ ],
1737
+ "cam_distance": 2.826773166656494
1738
+ },
1739
+ {
1740
+ "frame": 91,
1741
+ "take": 2,
1742
+ "manipulation_level": 2,
1743
+ "active_joints": [
1744
+ 0,
1745
+ 1
1746
+ ],
1747
+ "joint_positions": [
1748
+ -0.0,
1749
+ 0.8253336548805237
1750
+ ],
1751
+ "cam_pose": [
1752
+ -2.646575689315796,
1753
+ 0.327321320772171,
1754
+ 0.9376270771026611
1755
+ ],
1756
+ "cam_distance": 2.826773166656494
1757
+ },
1758
+ {
1759
+ "frame": 92,
1760
+ "take": 2,
1761
+ "manipulation_level": 2,
1762
+ "active_joints": [
1763
+ 0,
1764
+ 1
1765
+ ],
1766
+ "joint_positions": [
1767
+ -0.0,
1768
+ 0.8519573211669922
1769
+ ],
1770
+ "cam_pose": [
1771
+ -2.646575689315796,
1772
+ 0.327321320772171,
1773
+ 0.9376270771026611
1774
+ ],
1775
+ "cam_distance": 2.826773166656494
1776
+ },
1777
+ {
1778
+ "frame": 93,
1779
+ "take": 2,
1780
+ "manipulation_level": 2,
1781
+ "active_joints": [
1782
+ 0,
1783
+ 1
1784
+ ],
1785
+ "joint_positions": [
1786
+ -0.0,
1787
+ 0.8785809874534607
1788
+ ],
1789
+ "cam_pose": [
1790
+ -2.646575689315796,
1791
+ 0.327321320772171,
1792
+ 0.9376270771026611
1793
+ ],
1794
+ "cam_distance": 2.826773166656494
1795
+ },
1796
+ {
1797
+ "frame": 94,
1798
+ "take": 2,
1799
+ "manipulation_level": 2,
1800
+ "active_joints": [
1801
+ 0,
1802
+ 1
1803
+ ],
1804
+ "joint_positions": [
1805
+ -0.0,
1806
+ 0.9052046537399292
1807
+ ],
1808
+ "cam_pose": [
1809
+ -2.646575689315796,
1810
+ 0.327321320772171,
1811
+ 0.9376270771026611
1812
+ ],
1813
+ "cam_distance": 2.826773166656494
1814
+ },
1815
+ {
1816
+ "frame": 95,
1817
+ "take": 2,
1818
+ "manipulation_level": 2,
1819
+ "active_joints": [
1820
+ 0,
1821
+ 1
1822
+ ],
1823
+ "joint_positions": [
1824
+ -0.0,
1825
+ 0.9318283200263977
1826
+ ],
1827
+ "cam_pose": [
1828
+ -2.646575689315796,
1829
+ 0.327321320772171,
1830
+ 0.9376270771026611
1831
+ ],
1832
+ "cam_distance": 2.826773166656494
1833
+ },
1834
+ {
1835
+ "frame": 96,
1836
+ "take": 2,
1837
+ "manipulation_level": 2,
1838
+ "active_joints": [
1839
+ 0,
1840
+ 1
1841
+ ],
1842
+ "joint_positions": [
1843
+ -0.0,
1844
+ 0.9584519863128662
1845
+ ],
1846
+ "cam_pose": [
1847
+ -2.646575689315796,
1848
+ 0.327321320772171,
1849
+ 0.9376270771026611
1850
+ ],
1851
+ "cam_distance": 2.826773166656494
1852
+ },
1853
+ {
1854
+ "frame": 97,
1855
+ "take": 2,
1856
+ "manipulation_level": 2,
1857
+ "active_joints": [
1858
+ 0,
1859
+ 1
1860
+ ],
1861
+ "joint_positions": [
1862
+ -0.0,
1863
+ 0.9850756525993347
1864
+ ],
1865
+ "cam_pose": [
1866
+ -2.646575689315796,
1867
+ 0.327321320772171,
1868
+ 0.9376270771026611
1869
+ ],
1870
+ "cam_distance": 2.826773166656494
1871
+ },
1872
+ {
1873
+ "frame": 98,
1874
+ "take": 2,
1875
+ "manipulation_level": 2,
1876
+ "active_joints": [
1877
+ 0,
1878
+ 1
1879
+ ],
1880
+ "joint_positions": [
1881
+ -0.0,
1882
+ 1.0116993188858032
1883
+ ],
1884
+ "cam_pose": [
1885
+ -2.646575689315796,
1886
+ 0.327321320772171,
1887
+ 0.9376270771026611
1888
+ ],
1889
+ "cam_distance": 2.826773166656494
1890
+ },
1891
+ {
1892
+ "frame": 99,
1893
+ "take": 2,
1894
+ "manipulation_level": 2,
1895
+ "active_joints": [
1896
+ 0,
1897
+ 1
1898
+ ],
1899
+ "joint_positions": [
1900
+ -0.0,
1901
+ 1.0383230447769165
1902
+ ],
1903
+ "cam_pose": [
1904
+ -2.646575689315796,
1905
+ 0.327321320772171,
1906
+ 0.9376270771026611
1907
+ ],
1908
+ "cam_distance": 2.826773166656494
1909
+ },
1910
+ {
1911
+ "frame": 100,
1912
+ "take": 2,
1913
+ "manipulation_level": 2,
1914
+ "active_joints": [
1915
+ 0,
1916
+ 1
1917
+ ],
1918
+ "joint_positions": [
1919
+ -0.0,
1920
+ 1.0649466514587402
1921
+ ],
1922
+ "cam_pose": [
1923
+ -2.646575689315796,
1924
+ 0.327321320772171,
1925
+ 0.9376270771026611
1926
+ ],
1927
+ "cam_distance": 2.826773166656494
1928
+ },
1929
+ {
1930
+ "frame": 101,
1931
+ "take": 2,
1932
+ "manipulation_level": 2,
1933
+ "active_joints": [
1934
+ 0,
1935
+ 1
1936
+ ],
1937
+ "joint_positions": [
1938
+ -0.0,
1939
+ 1.0915703773498535
1940
+ ],
1941
+ "cam_pose": [
1942
+ -2.646575689315796,
1943
+ 0.327321320772171,
1944
+ 0.9376270771026611
1945
+ ],
1946
+ "cam_distance": 2.826773166656494
1947
+ },
1948
+ {
1949
+ "frame": 102,
1950
+ "take": 2,
1951
+ "manipulation_level": 2,
1952
+ "active_joints": [
1953
+ 0,
1954
+ 1
1955
+ ],
1956
+ "joint_positions": [
1957
+ -0.0,
1958
+ 1.1181939840316772
1959
+ ],
1960
+ "cam_pose": [
1961
+ -2.646575689315796,
1962
+ 0.327321320772171,
1963
+ 0.9376270771026611
1964
+ ],
1965
+ "cam_distance": 2.826773166656494
1966
+ },
1967
+ {
1968
+ "frame": 103,
1969
+ "take": 2,
1970
+ "manipulation_level": 2,
1971
+ "active_joints": [
1972
+ 0,
1973
+ 1
1974
+ ],
1975
+ "joint_positions": [
1976
+ -0.0,
1977
+ 1.1448177099227905
1978
+ ],
1979
+ "cam_pose": [
1980
+ -2.646575689315796,
1981
+ 0.327321320772171,
1982
+ 0.9376270771026611
1983
+ ],
1984
+ "cam_distance": 2.826773166656494
1985
+ },
1986
+ {
1987
+ "frame": 104,
1988
+ "take": 2,
1989
+ "manipulation_level": 2,
1990
+ "active_joints": [
1991
+ 0,
1992
+ 1
1993
+ ],
1994
+ "joint_positions": [
1995
+ -0.0,
1996
+ 1.1714413166046143
1997
+ ],
1998
+ "cam_pose": [
1999
+ -2.646575689315796,
2000
+ 0.327321320772171,
2001
+ 0.9376270771026611
2002
+ ],
2003
+ "cam_distance": 2.826773166656494
2004
+ },
2005
+ {
2006
+ "frame": 105,
2007
+ "take": 2,
2008
+ "manipulation_level": 2,
2009
+ "active_joints": [
2010
+ 0,
2011
+ 1
2012
+ ],
2013
+ "joint_positions": [
2014
+ -0.0,
2015
+ 1.1980650424957275
2016
+ ],
2017
+ "cam_pose": [
2018
+ -2.646575689315796,
2019
+ 0.327321320772171,
2020
+ 0.9376270771026611
2021
+ ],
2022
+ "cam_distance": 2.826773166656494
2023
+ },
2024
+ {
2025
+ "frame": 106,
2026
+ "take": 2,
2027
+ "manipulation_level": 2,
2028
+ "active_joints": [
2029
+ 0,
2030
+ 1
2031
+ ],
2032
+ "joint_positions": [
2033
+ -0.0,
2034
+ 1.2246886491775513
2035
+ ],
2036
+ "cam_pose": [
2037
+ -2.646575689315796,
2038
+ 0.327321320772171,
2039
+ 0.9376270771026611
2040
+ ],
2041
+ "cam_distance": 2.826773166656494
2042
+ },
2043
+ {
2044
+ "frame": 107,
2045
+ "take": 2,
2046
+ "manipulation_level": 2,
2047
+ "active_joints": [
2048
+ 0,
2049
+ 1
2050
+ ],
2051
+ "joint_positions": [
2052
+ -0.0,
2053
+ 1.2513123750686646
2054
+ ],
2055
+ "cam_pose": [
2056
+ -2.646575689315796,
2057
+ 0.327321320772171,
2058
+ 0.9376270771026611
2059
+ ],
2060
+ "cam_distance": 2.826773166656494
2061
+ },
2062
+ {
2063
+ "frame": 108,
2064
+ "take": 2,
2065
+ "manipulation_level": 2,
2066
+ "active_joints": [
2067
+ 0,
2068
+ 1
2069
+ ],
2070
+ "joint_positions": [
2071
+ -0.0,
2072
+ 1.2779359817504883
2073
+ ],
2074
+ "cam_pose": [
2075
+ -2.646575689315796,
2076
+ 0.327321320772171,
2077
+ 0.9376270771026611
2078
+ ],
2079
+ "cam_distance": 2.826773166656494
2080
+ },
2081
+ {
2082
+ "frame": 109,
2083
+ "take": 2,
2084
+ "manipulation_level": 2,
2085
+ "active_joints": [
2086
+ 0,
2087
+ 1
2088
+ ],
2089
+ "joint_positions": [
2090
+ -0.0,
2091
+ 1.3045597076416016
2092
+ ],
2093
+ "cam_pose": [
2094
+ -2.646575689315796,
2095
+ 0.327321320772171,
2096
+ 0.9376270771026611
2097
+ ],
2098
+ "cam_distance": 2.826773166656494
2099
+ },
2100
+ {
2101
+ "frame": 110,
2102
+ "take": 2,
2103
+ "manipulation_level": 2,
2104
+ "active_joints": [
2105
+ 0,
2106
+ 1
2107
+ ],
2108
+ "joint_positions": [
2109
+ -0.0,
2110
+ 1.3311833143234253
2111
+ ],
2112
+ "cam_pose": [
2113
+ -2.646575689315796,
2114
+ 0.327321320772171,
2115
+ 0.9376270771026611
2116
+ ],
2117
+ "cam_distance": 2.826773166656494
2118
+ },
2119
+ {
2120
+ "frame": 111,
2121
+ "take": 2,
2122
+ "manipulation_level": 2,
2123
+ "active_joints": [
2124
+ 0,
2125
+ 1
2126
+ ],
2127
+ "joint_positions": [
2128
+ -0.0,
2129
+ 1.3578070402145386
2130
+ ],
2131
+ "cam_pose": [
2132
+ -2.646575689315796,
2133
+ 0.327321320772171,
2134
+ 0.9376270771026611
2135
+ ],
2136
+ "cam_distance": 2.826773166656494
2137
+ },
2138
+ {
2139
+ "frame": 112,
2140
+ "take": 2,
2141
+ "manipulation_level": 2,
2142
+ "active_joints": [
2143
+ 0,
2144
+ 1
2145
+ ],
2146
+ "joint_positions": [
2147
+ -0.0,
2148
+ 1.3844306468963623
2149
+ ],
2150
+ "cam_pose": [
2151
+ -2.646575689315796,
2152
+ 0.327321320772171,
2153
+ 0.9376270771026611
2154
+ ],
2155
+ "cam_distance": 2.826773166656494
2156
+ },
2157
+ {
2158
+ "frame": 113,
2159
+ "take": 2,
2160
+ "manipulation_level": 2,
2161
+ "active_joints": [
2162
+ 0,
2163
+ 1
2164
+ ],
2165
+ "joint_positions": [
2166
+ -0.0,
2167
+ 1.4110543727874756
2168
+ ],
2169
+ "cam_pose": [
2170
+ -2.646575689315796,
2171
+ 0.327321320772171,
2172
+ 0.9376270771026611
2173
+ ],
2174
+ "cam_distance": 2.826773166656494
2175
+ },
2176
+ {
2177
+ "frame": 114,
2178
+ "take": 2,
2179
+ "manipulation_level": 2,
2180
+ "active_joints": [
2181
+ 0,
2182
+ 1
2183
+ ],
2184
+ "joint_positions": [
2185
+ -0.0,
2186
+ 1.4376779794692993
2187
+ ],
2188
+ "cam_pose": [
2189
+ -2.646575689315796,
2190
+ 0.327321320772171,
2191
+ 0.9376270771026611
2192
+ ],
2193
+ "cam_distance": 2.826773166656494
2194
+ },
2195
+ {
2196
+ "frame": 115,
2197
+ "take": 2,
2198
+ "manipulation_level": 2,
2199
+ "active_joints": [
2200
+ 0,
2201
+ 1
2202
+ ],
2203
+ "joint_positions": [
2204
+ -0.0,
2205
+ 1.4643017053604126
2206
+ ],
2207
+ "cam_pose": [
2208
+ -2.646575689315796,
2209
+ 0.327321320772171,
2210
+ 0.9376270771026611
2211
+ ],
2212
+ "cam_distance": 2.826773166656494
2213
+ },
2214
+ {
2215
+ "frame": 116,
2216
+ "take": 2,
2217
+ "manipulation_level": 2,
2218
+ "active_joints": [
2219
+ 0,
2220
+ 1
2221
+ ],
2222
+ "joint_positions": [
2223
+ -0.0,
2224
+ 1.4909253120422363
2225
+ ],
2226
+ "cam_pose": [
2227
+ -2.646575689315796,
2228
+ 0.327321320772171,
2229
+ 0.9376270771026611
2230
+ ],
2231
+ "cam_distance": 2.826773166656494
2232
+ },
2233
+ {
2234
+ "frame": 117,
2235
+ "take": 2,
2236
+ "manipulation_level": 2,
2237
+ "active_joints": [
2238
+ 0,
2239
+ 1
2240
+ ],
2241
+ "joint_positions": [
2242
+ -0.0,
2243
+ 1.5175490379333496
2244
+ ],
2245
+ "cam_pose": [
2246
+ -2.646575689315796,
2247
+ 0.327321320772171,
2248
+ 0.9376270771026611
2249
+ ],
2250
+ "cam_distance": 2.826773166656494
2251
+ },
2252
+ {
2253
+ "frame": 118,
2254
+ "take": 2,
2255
+ "manipulation_level": 2,
2256
+ "active_joints": [
2257
+ 0,
2258
+ 1
2259
+ ],
2260
+ "joint_positions": [
2261
+ -0.0,
2262
+ 1.5441726446151733
2263
+ ],
2264
+ "cam_pose": [
2265
+ -2.646575689315796,
2266
+ 0.327321320772171,
2267
+ 0.9376270771026611
2268
+ ],
2269
+ "cam_distance": 2.826773166656494
2270
+ },
2271
+ {
2272
+ "frame": 119,
2273
+ "take": 2,
2274
+ "manipulation_level": 2,
2275
+ "active_joints": [
2276
+ 0,
2277
+ 1
2278
+ ],
2279
+ "joint_positions": [
2280
+ -0.0,
2281
+ 1.5707963705062866
2282
+ ],
2283
+ "cam_pose": [
2284
+ -2.646575689315796,
2285
+ 0.327321320772171,
2286
+ 0.9376270771026611
2287
+ ],
2288
+ "cam_distance": 2.826773166656494
2289
+ }
2290
+ ]
2291
+ }
41003/take_03/metadata.json ADDED
@@ -0,0 +1,2291 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object_id": "41003",
3
+ "manipulation_level": 2,
4
+ "active_joints": [
5
+ 0,
6
+ 2
7
+ ],
8
+ "total_joints": 4,
9
+ "frames": [
10
+ {
11
+ "frame": 0,
12
+ "take": 3,
13
+ "manipulation_level": 2,
14
+ "active_joints": [
15
+ 0,
16
+ 2
17
+ ],
18
+ "joint_positions": [
19
+ 0.0,
20
+ -0.0
21
+ ],
22
+ "cam_pose": [
23
+ -2.487166166305542,
24
+ 0.6495893597602844,
25
+ 0.8687933683395386
26
+ ],
27
+ "cam_distance": 2.7134413719177246
28
+ },
29
+ {
30
+ "frame": 1,
31
+ "take": 3,
32
+ "manipulation_level": 2,
33
+ "active_joints": [
34
+ 0,
35
+ 2
36
+ ],
37
+ "joint_positions": [
38
+ 0.026623666286468506,
39
+ -0.0
40
+ ],
41
+ "cam_pose": [
42
+ -2.487166166305542,
43
+ 0.6495893597602844,
44
+ 0.8687933683395386
45
+ ],
46
+ "cam_distance": 2.7134413719177246
47
+ },
48
+ {
49
+ "frame": 2,
50
+ "take": 3,
51
+ "manipulation_level": 2,
52
+ "active_joints": [
53
+ 0,
54
+ 2
55
+ ],
56
+ "joint_positions": [
57
+ 0.05324733257293701,
58
+ -0.0
59
+ ],
60
+ "cam_pose": [
61
+ -2.487166166305542,
62
+ 0.6495893597602844,
63
+ 0.8687933683395386
64
+ ],
65
+ "cam_distance": 2.7134413719177246
66
+ },
67
+ {
68
+ "frame": 3,
69
+ "take": 3,
70
+ "manipulation_level": 2,
71
+ "active_joints": [
72
+ 0,
73
+ 2
74
+ ],
75
+ "joint_positions": [
76
+ 0.07987099885940552,
77
+ -0.0
78
+ ],
79
+ "cam_pose": [
80
+ -2.487166166305542,
81
+ 0.6495893597602844,
82
+ 0.8687933683395386
83
+ ],
84
+ "cam_distance": 2.7134413719177246
85
+ },
86
+ {
87
+ "frame": 4,
88
+ "take": 3,
89
+ "manipulation_level": 2,
90
+ "active_joints": [
91
+ 0,
92
+ 2
93
+ ],
94
+ "joint_positions": [
95
+ 0.10649466514587402,
96
+ -0.0
97
+ ],
98
+ "cam_pose": [
99
+ -2.487166166305542,
100
+ 0.6495893597602844,
101
+ 0.8687933683395386
102
+ ],
103
+ "cam_distance": 2.7134413719177246
104
+ },
105
+ {
106
+ "frame": 5,
107
+ "take": 3,
108
+ "manipulation_level": 2,
109
+ "active_joints": [
110
+ 0,
111
+ 2
112
+ ],
113
+ "joint_positions": [
114
+ 0.13311833143234253,
115
+ -0.0
116
+ ],
117
+ "cam_pose": [
118
+ -2.487166166305542,
119
+ 0.6495893597602844,
120
+ 0.8687933683395386
121
+ ],
122
+ "cam_distance": 2.7134413719177246
123
+ },
124
+ {
125
+ "frame": 6,
126
+ "take": 3,
127
+ "manipulation_level": 2,
128
+ "active_joints": [
129
+ 0,
130
+ 2
131
+ ],
132
+ "joint_positions": [
133
+ 0.15974199771881104,
134
+ -0.0
135
+ ],
136
+ "cam_pose": [
137
+ -2.487166166305542,
138
+ 0.6495893597602844,
139
+ 0.8687933683395386
140
+ ],
141
+ "cam_distance": 2.7134413719177246
142
+ },
143
+ {
144
+ "frame": 7,
145
+ "take": 3,
146
+ "manipulation_level": 2,
147
+ "active_joints": [
148
+ 0,
149
+ 2
150
+ ],
151
+ "joint_positions": [
152
+ 0.18636566400527954,
153
+ -0.0
154
+ ],
155
+ "cam_pose": [
156
+ -2.487166166305542,
157
+ 0.6495893597602844,
158
+ 0.8687933683395386
159
+ ],
160
+ "cam_distance": 2.7134413719177246
161
+ },
162
+ {
163
+ "frame": 8,
164
+ "take": 3,
165
+ "manipulation_level": 2,
166
+ "active_joints": [
167
+ 0,
168
+ 2
169
+ ],
170
+ "joint_positions": [
171
+ 0.21298933029174805,
172
+ -0.0
173
+ ],
174
+ "cam_pose": [
175
+ -2.487166166305542,
176
+ 0.6495893597602844,
177
+ 0.8687933683395386
178
+ ],
179
+ "cam_distance": 2.7134413719177246
180
+ },
181
+ {
182
+ "frame": 9,
183
+ "take": 3,
184
+ "manipulation_level": 2,
185
+ "active_joints": [
186
+ 0,
187
+ 2
188
+ ],
189
+ "joint_positions": [
190
+ 0.23961299657821655,
191
+ -0.0
192
+ ],
193
+ "cam_pose": [
194
+ -2.487166166305542,
195
+ 0.6495893597602844,
196
+ 0.8687933683395386
197
+ ],
198
+ "cam_distance": 2.7134413719177246
199
+ },
200
+ {
201
+ "frame": 10,
202
+ "take": 3,
203
+ "manipulation_level": 2,
204
+ "active_joints": [
205
+ 0,
206
+ 2
207
+ ],
208
+ "joint_positions": [
209
+ 0.26623666286468506,
210
+ -0.0
211
+ ],
212
+ "cam_pose": [
213
+ -2.487166166305542,
214
+ 0.6495893597602844,
215
+ 0.8687933683395386
216
+ ],
217
+ "cam_distance": 2.7134413719177246
218
+ },
219
+ {
220
+ "frame": 11,
221
+ "take": 3,
222
+ "manipulation_level": 2,
223
+ "active_joints": [
224
+ 0,
225
+ 2
226
+ ],
227
+ "joint_positions": [
228
+ 0.29286032915115356,
229
+ -0.0
230
+ ],
231
+ "cam_pose": [
232
+ -2.487166166305542,
233
+ 0.6495893597602844,
234
+ 0.8687933683395386
235
+ ],
236
+ "cam_distance": 2.7134413719177246
237
+ },
238
+ {
239
+ "frame": 12,
240
+ "take": 3,
241
+ "manipulation_level": 2,
242
+ "active_joints": [
243
+ 0,
244
+ 2
245
+ ],
246
+ "joint_positions": [
247
+ 0.31948399543762207,
248
+ -0.0
249
+ ],
250
+ "cam_pose": [
251
+ -2.487166166305542,
252
+ 0.6495893597602844,
253
+ 0.8687933683395386
254
+ ],
255
+ "cam_distance": 2.7134413719177246
256
+ },
257
+ {
258
+ "frame": 13,
259
+ "take": 3,
260
+ "manipulation_level": 2,
261
+ "active_joints": [
262
+ 0,
263
+ 2
264
+ ],
265
+ "joint_positions": [
266
+ 0.3461076617240906,
267
+ -0.0
268
+ ],
269
+ "cam_pose": [
270
+ -2.487166166305542,
271
+ 0.6495893597602844,
272
+ 0.8687933683395386
273
+ ],
274
+ "cam_distance": 2.7134413719177246
275
+ },
276
+ {
277
+ "frame": 14,
278
+ "take": 3,
279
+ "manipulation_level": 2,
280
+ "active_joints": [
281
+ 0,
282
+ 2
283
+ ],
284
+ "joint_positions": [
285
+ 0.3727313280105591,
286
+ -0.0
287
+ ],
288
+ "cam_pose": [
289
+ -2.487166166305542,
290
+ 0.6495893597602844,
291
+ 0.8687933683395386
292
+ ],
293
+ "cam_distance": 2.7134413719177246
294
+ },
295
+ {
296
+ "frame": 15,
297
+ "take": 3,
298
+ "manipulation_level": 2,
299
+ "active_joints": [
300
+ 0,
301
+ 2
302
+ ],
303
+ "joint_positions": [
304
+ 0.3993549942970276,
305
+ -0.0
306
+ ],
307
+ "cam_pose": [
308
+ -2.487166166305542,
309
+ 0.6495893597602844,
310
+ 0.8687933683395386
311
+ ],
312
+ "cam_distance": 2.7134413719177246
313
+ },
314
+ {
315
+ "frame": 16,
316
+ "take": 3,
317
+ "manipulation_level": 2,
318
+ "active_joints": [
319
+ 0,
320
+ 2
321
+ ],
322
+ "joint_positions": [
323
+ 0.4259786605834961,
324
+ -0.0
325
+ ],
326
+ "cam_pose": [
327
+ -2.487166166305542,
328
+ 0.6495893597602844,
329
+ 0.8687933683395386
330
+ ],
331
+ "cam_distance": 2.7134413719177246
332
+ },
333
+ {
334
+ "frame": 17,
335
+ "take": 3,
336
+ "manipulation_level": 2,
337
+ "active_joints": [
338
+ 0,
339
+ 2
340
+ ],
341
+ "joint_positions": [
342
+ 0.4526023268699646,
343
+ -0.0
344
+ ],
345
+ "cam_pose": [
346
+ -2.487166166305542,
347
+ 0.6495893597602844,
348
+ 0.8687933683395386
349
+ ],
350
+ "cam_distance": 2.7134413719177246
351
+ },
352
+ {
353
+ "frame": 18,
354
+ "take": 3,
355
+ "manipulation_level": 2,
356
+ "active_joints": [
357
+ 0,
358
+ 2
359
+ ],
360
+ "joint_positions": [
361
+ 0.4792259931564331,
362
+ -0.0
363
+ ],
364
+ "cam_pose": [
365
+ -2.487166166305542,
366
+ 0.6495893597602844,
367
+ 0.8687933683395386
368
+ ],
369
+ "cam_distance": 2.7134413719177246
370
+ },
371
+ {
372
+ "frame": 19,
373
+ "take": 3,
374
+ "manipulation_level": 2,
375
+ "active_joints": [
376
+ 0,
377
+ 2
378
+ ],
379
+ "joint_positions": [
380
+ 0.5058496594429016,
381
+ -0.0
382
+ ],
383
+ "cam_pose": [
384
+ -2.487166166305542,
385
+ 0.6495893597602844,
386
+ 0.8687933683395386
387
+ ],
388
+ "cam_distance": 2.7134413719177246
389
+ },
390
+ {
391
+ "frame": 20,
392
+ "take": 3,
393
+ "manipulation_level": 2,
394
+ "active_joints": [
395
+ 0,
396
+ 2
397
+ ],
398
+ "joint_positions": [
399
+ 0.5324733257293701,
400
+ -0.0
401
+ ],
402
+ "cam_pose": [
403
+ -2.487166166305542,
404
+ 0.6495893597602844,
405
+ 0.8687933683395386
406
+ ],
407
+ "cam_distance": 2.7134413719177246
408
+ },
409
+ {
410
+ "frame": 21,
411
+ "take": 3,
412
+ "manipulation_level": 2,
413
+ "active_joints": [
414
+ 0,
415
+ 2
416
+ ],
417
+ "joint_positions": [
418
+ 0.5590969920158386,
419
+ -0.0
420
+ ],
421
+ "cam_pose": [
422
+ -2.487166166305542,
423
+ 0.6495893597602844,
424
+ 0.8687933683395386
425
+ ],
426
+ "cam_distance": 2.7134413719177246
427
+ },
428
+ {
429
+ "frame": 22,
430
+ "take": 3,
431
+ "manipulation_level": 2,
432
+ "active_joints": [
433
+ 0,
434
+ 2
435
+ ],
436
+ "joint_positions": [
437
+ 0.5857206583023071,
438
+ -0.0
439
+ ],
440
+ "cam_pose": [
441
+ -2.487166166305542,
442
+ 0.6495893597602844,
443
+ 0.8687933683395386
444
+ ],
445
+ "cam_distance": 2.7134413719177246
446
+ },
447
+ {
448
+ "frame": 23,
449
+ "take": 3,
450
+ "manipulation_level": 2,
451
+ "active_joints": [
452
+ 0,
453
+ 2
454
+ ],
455
+ "joint_positions": [
456
+ 0.6123443245887756,
457
+ -0.0
458
+ ],
459
+ "cam_pose": [
460
+ -2.487166166305542,
461
+ 0.6495893597602844,
462
+ 0.8687933683395386
463
+ ],
464
+ "cam_distance": 2.7134413719177246
465
+ },
466
+ {
467
+ "frame": 24,
468
+ "take": 3,
469
+ "manipulation_level": 2,
470
+ "active_joints": [
471
+ 0,
472
+ 2
473
+ ],
474
+ "joint_positions": [
475
+ 0.6389679908752441,
476
+ -0.0
477
+ ],
478
+ "cam_pose": [
479
+ -2.487166166305542,
480
+ 0.6495893597602844,
481
+ 0.8687933683395386
482
+ ],
483
+ "cam_distance": 2.7134413719177246
484
+ },
485
+ {
486
+ "frame": 25,
487
+ "take": 3,
488
+ "manipulation_level": 2,
489
+ "active_joints": [
490
+ 0,
491
+ 2
492
+ ],
493
+ "joint_positions": [
494
+ 0.6655916571617126,
495
+ -0.0
496
+ ],
497
+ "cam_pose": [
498
+ -2.487166166305542,
499
+ 0.6495893597602844,
500
+ 0.8687933683395386
501
+ ],
502
+ "cam_distance": 2.7134413719177246
503
+ },
504
+ {
505
+ "frame": 26,
506
+ "take": 3,
507
+ "manipulation_level": 2,
508
+ "active_joints": [
509
+ 0,
510
+ 2
511
+ ],
512
+ "joint_positions": [
513
+ 0.6922153234481812,
514
+ -0.0
515
+ ],
516
+ "cam_pose": [
517
+ -2.487166166305542,
518
+ 0.6495893597602844,
519
+ 0.8687933683395386
520
+ ],
521
+ "cam_distance": 2.7134413719177246
522
+ },
523
+ {
524
+ "frame": 27,
525
+ "take": 3,
526
+ "manipulation_level": 2,
527
+ "active_joints": [
528
+ 0,
529
+ 2
530
+ ],
531
+ "joint_positions": [
532
+ 0.7188389897346497,
533
+ -0.0
534
+ ],
535
+ "cam_pose": [
536
+ -2.487166166305542,
537
+ 0.6495893597602844,
538
+ 0.8687933683395386
539
+ ],
540
+ "cam_distance": 2.7134413719177246
541
+ },
542
+ {
543
+ "frame": 28,
544
+ "take": 3,
545
+ "manipulation_level": 2,
546
+ "active_joints": [
547
+ 0,
548
+ 2
549
+ ],
550
+ "joint_positions": [
551
+ 0.7454626560211182,
552
+ -0.0
553
+ ],
554
+ "cam_pose": [
555
+ -2.487166166305542,
556
+ 0.6495893597602844,
557
+ 0.8687933683395386
558
+ ],
559
+ "cam_distance": 2.7134413719177246
560
+ },
561
+ {
562
+ "frame": 29,
563
+ "take": 3,
564
+ "manipulation_level": 2,
565
+ "active_joints": [
566
+ 0,
567
+ 2
568
+ ],
569
+ "joint_positions": [
570
+ 0.7720863223075867,
571
+ -0.0
572
+ ],
573
+ "cam_pose": [
574
+ -2.487166166305542,
575
+ 0.6495893597602844,
576
+ 0.8687933683395386
577
+ ],
578
+ "cam_distance": 2.7134413719177246
579
+ },
580
+ {
581
+ "frame": 30,
582
+ "take": 3,
583
+ "manipulation_level": 2,
584
+ "active_joints": [
585
+ 0,
586
+ 2
587
+ ],
588
+ "joint_positions": [
589
+ 0.7987099885940552,
590
+ -0.0
591
+ ],
592
+ "cam_pose": [
593
+ -2.487166166305542,
594
+ 0.6495893597602844,
595
+ 0.8687933683395386
596
+ ],
597
+ "cam_distance": 2.7134413719177246
598
+ },
599
+ {
600
+ "frame": 31,
601
+ "take": 3,
602
+ "manipulation_level": 2,
603
+ "active_joints": [
604
+ 0,
605
+ 2
606
+ ],
607
+ "joint_positions": [
608
+ 0.8253336548805237,
609
+ -0.0
610
+ ],
611
+ "cam_pose": [
612
+ -2.487166166305542,
613
+ 0.6495893597602844,
614
+ 0.8687933683395386
615
+ ],
616
+ "cam_distance": 2.7134413719177246
617
+ },
618
+ {
619
+ "frame": 32,
620
+ "take": 3,
621
+ "manipulation_level": 2,
622
+ "active_joints": [
623
+ 0,
624
+ 2
625
+ ],
626
+ "joint_positions": [
627
+ 0.8519573211669922,
628
+ -0.0
629
+ ],
630
+ "cam_pose": [
631
+ -2.487166166305542,
632
+ 0.6495893597602844,
633
+ 0.8687933683395386
634
+ ],
635
+ "cam_distance": 2.7134413719177246
636
+ },
637
+ {
638
+ "frame": 33,
639
+ "take": 3,
640
+ "manipulation_level": 2,
641
+ "active_joints": [
642
+ 0,
643
+ 2
644
+ ],
645
+ "joint_positions": [
646
+ 0.8785809874534607,
647
+ -0.0
648
+ ],
649
+ "cam_pose": [
650
+ -2.487166166305542,
651
+ 0.6495893597602844,
652
+ 0.8687933683395386
653
+ ],
654
+ "cam_distance": 2.7134413719177246
655
+ },
656
+ {
657
+ "frame": 34,
658
+ "take": 3,
659
+ "manipulation_level": 2,
660
+ "active_joints": [
661
+ 0,
662
+ 2
663
+ ],
664
+ "joint_positions": [
665
+ 0.9052046537399292,
666
+ -0.0
667
+ ],
668
+ "cam_pose": [
669
+ -2.487166166305542,
670
+ 0.6495893597602844,
671
+ 0.8687933683395386
672
+ ],
673
+ "cam_distance": 2.7134413719177246
674
+ },
675
+ {
676
+ "frame": 35,
677
+ "take": 3,
678
+ "manipulation_level": 2,
679
+ "active_joints": [
680
+ 0,
681
+ 2
682
+ ],
683
+ "joint_positions": [
684
+ 0.9318283200263977,
685
+ -0.0
686
+ ],
687
+ "cam_pose": [
688
+ -2.487166166305542,
689
+ 0.6495893597602844,
690
+ 0.8687933683395386
691
+ ],
692
+ "cam_distance": 2.7134413719177246
693
+ },
694
+ {
695
+ "frame": 36,
696
+ "take": 3,
697
+ "manipulation_level": 2,
698
+ "active_joints": [
699
+ 0,
700
+ 2
701
+ ],
702
+ "joint_positions": [
703
+ 0.9584519863128662,
704
+ -0.0
705
+ ],
706
+ "cam_pose": [
707
+ -2.487166166305542,
708
+ 0.6495893597602844,
709
+ 0.8687933683395386
710
+ ],
711
+ "cam_distance": 2.7134413719177246
712
+ },
713
+ {
714
+ "frame": 37,
715
+ "take": 3,
716
+ "manipulation_level": 2,
717
+ "active_joints": [
718
+ 0,
719
+ 2
720
+ ],
721
+ "joint_positions": [
722
+ 0.9850756525993347,
723
+ -0.0
724
+ ],
725
+ "cam_pose": [
726
+ -2.487166166305542,
727
+ 0.6495893597602844,
728
+ 0.8687933683395386
729
+ ],
730
+ "cam_distance": 2.7134413719177246
731
+ },
732
+ {
733
+ "frame": 38,
734
+ "take": 3,
735
+ "manipulation_level": 2,
736
+ "active_joints": [
737
+ 0,
738
+ 2
739
+ ],
740
+ "joint_positions": [
741
+ 1.0116993188858032,
742
+ -0.0
743
+ ],
744
+ "cam_pose": [
745
+ -2.487166166305542,
746
+ 0.6495893597602844,
747
+ 0.8687933683395386
748
+ ],
749
+ "cam_distance": 2.7134413719177246
750
+ },
751
+ {
752
+ "frame": 39,
753
+ "take": 3,
754
+ "manipulation_level": 2,
755
+ "active_joints": [
756
+ 0,
757
+ 2
758
+ ],
759
+ "joint_positions": [
760
+ 1.0383230447769165,
761
+ -0.0
762
+ ],
763
+ "cam_pose": [
764
+ -2.487166166305542,
765
+ 0.6495893597602844,
766
+ 0.8687933683395386
767
+ ],
768
+ "cam_distance": 2.7134413719177246
769
+ },
770
+ {
771
+ "frame": 40,
772
+ "take": 3,
773
+ "manipulation_level": 2,
774
+ "active_joints": [
775
+ 0,
776
+ 2
777
+ ],
778
+ "joint_positions": [
779
+ 1.0649466514587402,
780
+ -0.0
781
+ ],
782
+ "cam_pose": [
783
+ -2.487166166305542,
784
+ 0.6495893597602844,
785
+ 0.8687933683395386
786
+ ],
787
+ "cam_distance": 2.7134413719177246
788
+ },
789
+ {
790
+ "frame": 41,
791
+ "take": 3,
792
+ "manipulation_level": 2,
793
+ "active_joints": [
794
+ 0,
795
+ 2
796
+ ],
797
+ "joint_positions": [
798
+ 1.0915703773498535,
799
+ -0.0
800
+ ],
801
+ "cam_pose": [
802
+ -2.487166166305542,
803
+ 0.6495893597602844,
804
+ 0.8687933683395386
805
+ ],
806
+ "cam_distance": 2.7134413719177246
807
+ },
808
+ {
809
+ "frame": 42,
810
+ "take": 3,
811
+ "manipulation_level": 2,
812
+ "active_joints": [
813
+ 0,
814
+ 2
815
+ ],
816
+ "joint_positions": [
817
+ 1.1181939840316772,
818
+ -0.0
819
+ ],
820
+ "cam_pose": [
821
+ -2.487166166305542,
822
+ 0.6495893597602844,
823
+ 0.8687933683395386
824
+ ],
825
+ "cam_distance": 2.7134413719177246
826
+ },
827
+ {
828
+ "frame": 43,
829
+ "take": 3,
830
+ "manipulation_level": 2,
831
+ "active_joints": [
832
+ 0,
833
+ 2
834
+ ],
835
+ "joint_positions": [
836
+ 1.1448177099227905,
837
+ -0.0
838
+ ],
839
+ "cam_pose": [
840
+ -2.487166166305542,
841
+ 0.6495893597602844,
842
+ 0.8687933683395386
843
+ ],
844
+ "cam_distance": 2.7134413719177246
845
+ },
846
+ {
847
+ "frame": 44,
848
+ "take": 3,
849
+ "manipulation_level": 2,
850
+ "active_joints": [
851
+ 0,
852
+ 2
853
+ ],
854
+ "joint_positions": [
855
+ 1.1714413166046143,
856
+ -0.0
857
+ ],
858
+ "cam_pose": [
859
+ -2.487166166305542,
860
+ 0.6495893597602844,
861
+ 0.8687933683395386
862
+ ],
863
+ "cam_distance": 2.7134413719177246
864
+ },
865
+ {
866
+ "frame": 45,
867
+ "take": 3,
868
+ "manipulation_level": 2,
869
+ "active_joints": [
870
+ 0,
871
+ 2
872
+ ],
873
+ "joint_positions": [
874
+ 1.1980650424957275,
875
+ -0.0
876
+ ],
877
+ "cam_pose": [
878
+ -2.487166166305542,
879
+ 0.6495893597602844,
880
+ 0.8687933683395386
881
+ ],
882
+ "cam_distance": 2.7134413719177246
883
+ },
884
+ {
885
+ "frame": 46,
886
+ "take": 3,
887
+ "manipulation_level": 2,
888
+ "active_joints": [
889
+ 0,
890
+ 2
891
+ ],
892
+ "joint_positions": [
893
+ 1.2246886491775513,
894
+ -0.0
895
+ ],
896
+ "cam_pose": [
897
+ -2.487166166305542,
898
+ 0.6495893597602844,
899
+ 0.8687933683395386
900
+ ],
901
+ "cam_distance": 2.7134413719177246
902
+ },
903
+ {
904
+ "frame": 47,
905
+ "take": 3,
906
+ "manipulation_level": 2,
907
+ "active_joints": [
908
+ 0,
909
+ 2
910
+ ],
911
+ "joint_positions": [
912
+ 1.2513123750686646,
913
+ -0.0
914
+ ],
915
+ "cam_pose": [
916
+ -2.487166166305542,
917
+ 0.6495893597602844,
918
+ 0.8687933683395386
919
+ ],
920
+ "cam_distance": 2.7134413719177246
921
+ },
922
+ {
923
+ "frame": 48,
924
+ "take": 3,
925
+ "manipulation_level": 2,
926
+ "active_joints": [
927
+ 0,
928
+ 2
929
+ ],
930
+ "joint_positions": [
931
+ 1.2779359817504883,
932
+ -0.0
933
+ ],
934
+ "cam_pose": [
935
+ -2.487166166305542,
936
+ 0.6495893597602844,
937
+ 0.8687933683395386
938
+ ],
939
+ "cam_distance": 2.7134413719177246
940
+ },
941
+ {
942
+ "frame": 49,
943
+ "take": 3,
944
+ "manipulation_level": 2,
945
+ "active_joints": [
946
+ 0,
947
+ 2
948
+ ],
949
+ "joint_positions": [
950
+ 1.3045597076416016,
951
+ -0.0
952
+ ],
953
+ "cam_pose": [
954
+ -2.487166166305542,
955
+ 0.6495893597602844,
956
+ 0.8687933683395386
957
+ ],
958
+ "cam_distance": 2.7134413719177246
959
+ },
960
+ {
961
+ "frame": 50,
962
+ "take": 3,
963
+ "manipulation_level": 2,
964
+ "active_joints": [
965
+ 0,
966
+ 2
967
+ ],
968
+ "joint_positions": [
969
+ 1.3311833143234253,
970
+ -0.0
971
+ ],
972
+ "cam_pose": [
973
+ -2.487166166305542,
974
+ 0.6495893597602844,
975
+ 0.8687933683395386
976
+ ],
977
+ "cam_distance": 2.7134413719177246
978
+ },
979
+ {
980
+ "frame": 51,
981
+ "take": 3,
982
+ "manipulation_level": 2,
983
+ "active_joints": [
984
+ 0,
985
+ 2
986
+ ],
987
+ "joint_positions": [
988
+ 1.3578070402145386,
989
+ -0.0
990
+ ],
991
+ "cam_pose": [
992
+ -2.487166166305542,
993
+ 0.6495893597602844,
994
+ 0.8687933683395386
995
+ ],
996
+ "cam_distance": 2.7134413719177246
997
+ },
998
+ {
999
+ "frame": 52,
1000
+ "take": 3,
1001
+ "manipulation_level": 2,
1002
+ "active_joints": [
1003
+ 0,
1004
+ 2
1005
+ ],
1006
+ "joint_positions": [
1007
+ 1.3844306468963623,
1008
+ -0.0
1009
+ ],
1010
+ "cam_pose": [
1011
+ -2.487166166305542,
1012
+ 0.6495893597602844,
1013
+ 0.8687933683395386
1014
+ ],
1015
+ "cam_distance": 2.7134413719177246
1016
+ },
1017
+ {
1018
+ "frame": 53,
1019
+ "take": 3,
1020
+ "manipulation_level": 2,
1021
+ "active_joints": [
1022
+ 0,
1023
+ 2
1024
+ ],
1025
+ "joint_positions": [
1026
+ 1.4110543727874756,
1027
+ -0.0
1028
+ ],
1029
+ "cam_pose": [
1030
+ -2.487166166305542,
1031
+ 0.6495893597602844,
1032
+ 0.8687933683395386
1033
+ ],
1034
+ "cam_distance": 2.7134413719177246
1035
+ },
1036
+ {
1037
+ "frame": 54,
1038
+ "take": 3,
1039
+ "manipulation_level": 2,
1040
+ "active_joints": [
1041
+ 0,
1042
+ 2
1043
+ ],
1044
+ "joint_positions": [
1045
+ 1.4376779794692993,
1046
+ -0.0
1047
+ ],
1048
+ "cam_pose": [
1049
+ -2.487166166305542,
1050
+ 0.6495893597602844,
1051
+ 0.8687933683395386
1052
+ ],
1053
+ "cam_distance": 2.7134413719177246
1054
+ },
1055
+ {
1056
+ "frame": 55,
1057
+ "take": 3,
1058
+ "manipulation_level": 2,
1059
+ "active_joints": [
1060
+ 0,
1061
+ 2
1062
+ ],
1063
+ "joint_positions": [
1064
+ 1.4643017053604126,
1065
+ -0.0
1066
+ ],
1067
+ "cam_pose": [
1068
+ -2.487166166305542,
1069
+ 0.6495893597602844,
1070
+ 0.8687933683395386
1071
+ ],
1072
+ "cam_distance": 2.7134413719177246
1073
+ },
1074
+ {
1075
+ "frame": 56,
1076
+ "take": 3,
1077
+ "manipulation_level": 2,
1078
+ "active_joints": [
1079
+ 0,
1080
+ 2
1081
+ ],
1082
+ "joint_positions": [
1083
+ 1.4909253120422363,
1084
+ -0.0
1085
+ ],
1086
+ "cam_pose": [
1087
+ -2.487166166305542,
1088
+ 0.6495893597602844,
1089
+ 0.8687933683395386
1090
+ ],
1091
+ "cam_distance": 2.7134413719177246
1092
+ },
1093
+ {
1094
+ "frame": 57,
1095
+ "take": 3,
1096
+ "manipulation_level": 2,
1097
+ "active_joints": [
1098
+ 0,
1099
+ 2
1100
+ ],
1101
+ "joint_positions": [
1102
+ 1.5175490379333496,
1103
+ -0.0
1104
+ ],
1105
+ "cam_pose": [
1106
+ -2.487166166305542,
1107
+ 0.6495893597602844,
1108
+ 0.8687933683395386
1109
+ ],
1110
+ "cam_distance": 2.7134413719177246
1111
+ },
1112
+ {
1113
+ "frame": 58,
1114
+ "take": 3,
1115
+ "manipulation_level": 2,
1116
+ "active_joints": [
1117
+ 0,
1118
+ 2
1119
+ ],
1120
+ "joint_positions": [
1121
+ 1.5441726446151733,
1122
+ -0.0
1123
+ ],
1124
+ "cam_pose": [
1125
+ -2.487166166305542,
1126
+ 0.6495893597602844,
1127
+ 0.8687933683395386
1128
+ ],
1129
+ "cam_distance": 2.7134413719177246
1130
+ },
1131
+ {
1132
+ "frame": 59,
1133
+ "take": 3,
1134
+ "manipulation_level": 2,
1135
+ "active_joints": [
1136
+ 0,
1137
+ 2
1138
+ ],
1139
+ "joint_positions": [
1140
+ 1.5707963705062866,
1141
+ -0.0
1142
+ ],
1143
+ "cam_pose": [
1144
+ -2.487166166305542,
1145
+ 0.6495893597602844,
1146
+ 0.8687933683395386
1147
+ ],
1148
+ "cam_distance": 2.7134413719177246
1149
+ },
1150
+ {
1151
+ "frame": 60,
1152
+ "take": 3,
1153
+ "manipulation_level": 2,
1154
+ "active_joints": [
1155
+ 0,
1156
+ 2
1157
+ ],
1158
+ "joint_positions": [
1159
+ -0.0,
1160
+ 0.0
1161
+ ],
1162
+ "cam_pose": [
1163
+ -2.487166166305542,
1164
+ 0.6495893597602844,
1165
+ 0.8687933683395386
1166
+ ],
1167
+ "cam_distance": 2.7134413719177246
1168
+ },
1169
+ {
1170
+ "frame": 61,
1171
+ "take": 3,
1172
+ "manipulation_level": 2,
1173
+ "active_joints": [
1174
+ 0,
1175
+ 2
1176
+ ],
1177
+ "joint_positions": [
1178
+ -0.0,
1179
+ 0.026623666286468506
1180
+ ],
1181
+ "cam_pose": [
1182
+ -2.487166166305542,
1183
+ 0.6495893597602844,
1184
+ 0.8687933683395386
1185
+ ],
1186
+ "cam_distance": 2.7134413719177246
1187
+ },
1188
+ {
1189
+ "frame": 62,
1190
+ "take": 3,
1191
+ "manipulation_level": 2,
1192
+ "active_joints": [
1193
+ 0,
1194
+ 2
1195
+ ],
1196
+ "joint_positions": [
1197
+ -0.0,
1198
+ 0.05324733257293701
1199
+ ],
1200
+ "cam_pose": [
1201
+ -2.487166166305542,
1202
+ 0.6495893597602844,
1203
+ 0.8687933683395386
1204
+ ],
1205
+ "cam_distance": 2.7134413719177246
1206
+ },
1207
+ {
1208
+ "frame": 63,
1209
+ "take": 3,
1210
+ "manipulation_level": 2,
1211
+ "active_joints": [
1212
+ 0,
1213
+ 2
1214
+ ],
1215
+ "joint_positions": [
1216
+ -0.0,
1217
+ 0.07987099885940552
1218
+ ],
1219
+ "cam_pose": [
1220
+ -2.487166166305542,
1221
+ 0.6495893597602844,
1222
+ 0.8687933683395386
1223
+ ],
1224
+ "cam_distance": 2.7134413719177246
1225
+ },
1226
+ {
1227
+ "frame": 64,
1228
+ "take": 3,
1229
+ "manipulation_level": 2,
1230
+ "active_joints": [
1231
+ 0,
1232
+ 2
1233
+ ],
1234
+ "joint_positions": [
1235
+ -0.0,
1236
+ 0.10649466514587402
1237
+ ],
1238
+ "cam_pose": [
1239
+ -2.487166166305542,
1240
+ 0.6495893597602844,
1241
+ 0.8687933683395386
1242
+ ],
1243
+ "cam_distance": 2.7134413719177246
1244
+ },
1245
+ {
1246
+ "frame": 65,
1247
+ "take": 3,
1248
+ "manipulation_level": 2,
1249
+ "active_joints": [
1250
+ 0,
1251
+ 2
1252
+ ],
1253
+ "joint_positions": [
1254
+ -0.0,
1255
+ 0.13311833143234253
1256
+ ],
1257
+ "cam_pose": [
1258
+ -2.487166166305542,
1259
+ 0.6495893597602844,
1260
+ 0.8687933683395386
1261
+ ],
1262
+ "cam_distance": 2.7134413719177246
1263
+ },
1264
+ {
1265
+ "frame": 66,
1266
+ "take": 3,
1267
+ "manipulation_level": 2,
1268
+ "active_joints": [
1269
+ 0,
1270
+ 2
1271
+ ],
1272
+ "joint_positions": [
1273
+ -0.0,
1274
+ 0.15974199771881104
1275
+ ],
1276
+ "cam_pose": [
1277
+ -2.487166166305542,
1278
+ 0.6495893597602844,
1279
+ 0.8687933683395386
1280
+ ],
1281
+ "cam_distance": 2.7134413719177246
1282
+ },
1283
+ {
1284
+ "frame": 67,
1285
+ "take": 3,
1286
+ "manipulation_level": 2,
1287
+ "active_joints": [
1288
+ 0,
1289
+ 2
1290
+ ],
1291
+ "joint_positions": [
1292
+ -0.0,
1293
+ 0.18636566400527954
1294
+ ],
1295
+ "cam_pose": [
1296
+ -2.487166166305542,
1297
+ 0.6495893597602844,
1298
+ 0.8687933683395386
1299
+ ],
1300
+ "cam_distance": 2.7134413719177246
1301
+ },
1302
+ {
1303
+ "frame": 68,
1304
+ "take": 3,
1305
+ "manipulation_level": 2,
1306
+ "active_joints": [
1307
+ 0,
1308
+ 2
1309
+ ],
1310
+ "joint_positions": [
1311
+ -0.0,
1312
+ 0.21298933029174805
1313
+ ],
1314
+ "cam_pose": [
1315
+ -2.487166166305542,
1316
+ 0.6495893597602844,
1317
+ 0.8687933683395386
1318
+ ],
1319
+ "cam_distance": 2.7134413719177246
1320
+ },
1321
+ {
1322
+ "frame": 69,
1323
+ "take": 3,
1324
+ "manipulation_level": 2,
1325
+ "active_joints": [
1326
+ 0,
1327
+ 2
1328
+ ],
1329
+ "joint_positions": [
1330
+ -0.0,
1331
+ 0.23961299657821655
1332
+ ],
1333
+ "cam_pose": [
1334
+ -2.487166166305542,
1335
+ 0.6495893597602844,
1336
+ 0.8687933683395386
1337
+ ],
1338
+ "cam_distance": 2.7134413719177246
1339
+ },
1340
+ {
1341
+ "frame": 70,
1342
+ "take": 3,
1343
+ "manipulation_level": 2,
1344
+ "active_joints": [
1345
+ 0,
1346
+ 2
1347
+ ],
1348
+ "joint_positions": [
1349
+ -0.0,
1350
+ 0.26623666286468506
1351
+ ],
1352
+ "cam_pose": [
1353
+ -2.487166166305542,
1354
+ 0.6495893597602844,
1355
+ 0.8687933683395386
1356
+ ],
1357
+ "cam_distance": 2.7134413719177246
1358
+ },
1359
+ {
1360
+ "frame": 71,
1361
+ "take": 3,
1362
+ "manipulation_level": 2,
1363
+ "active_joints": [
1364
+ 0,
1365
+ 2
1366
+ ],
1367
+ "joint_positions": [
1368
+ -0.0,
1369
+ 0.29286032915115356
1370
+ ],
1371
+ "cam_pose": [
1372
+ -2.487166166305542,
1373
+ 0.6495893597602844,
1374
+ 0.8687933683395386
1375
+ ],
1376
+ "cam_distance": 2.7134413719177246
1377
+ },
1378
+ {
1379
+ "frame": 72,
1380
+ "take": 3,
1381
+ "manipulation_level": 2,
1382
+ "active_joints": [
1383
+ 0,
1384
+ 2
1385
+ ],
1386
+ "joint_positions": [
1387
+ -0.0,
1388
+ 0.31948399543762207
1389
+ ],
1390
+ "cam_pose": [
1391
+ -2.487166166305542,
1392
+ 0.6495893597602844,
1393
+ 0.8687933683395386
1394
+ ],
1395
+ "cam_distance": 2.7134413719177246
1396
+ },
1397
+ {
1398
+ "frame": 73,
1399
+ "take": 3,
1400
+ "manipulation_level": 2,
1401
+ "active_joints": [
1402
+ 0,
1403
+ 2
1404
+ ],
1405
+ "joint_positions": [
1406
+ -0.0,
1407
+ 0.3461076617240906
1408
+ ],
1409
+ "cam_pose": [
1410
+ -2.487166166305542,
1411
+ 0.6495893597602844,
1412
+ 0.8687933683395386
1413
+ ],
1414
+ "cam_distance": 2.7134413719177246
1415
+ },
1416
+ {
1417
+ "frame": 74,
1418
+ "take": 3,
1419
+ "manipulation_level": 2,
1420
+ "active_joints": [
1421
+ 0,
1422
+ 2
1423
+ ],
1424
+ "joint_positions": [
1425
+ -0.0,
1426
+ 0.3727313280105591
1427
+ ],
1428
+ "cam_pose": [
1429
+ -2.487166166305542,
1430
+ 0.6495893597602844,
1431
+ 0.8687933683395386
1432
+ ],
1433
+ "cam_distance": 2.7134413719177246
1434
+ },
1435
+ {
1436
+ "frame": 75,
1437
+ "take": 3,
1438
+ "manipulation_level": 2,
1439
+ "active_joints": [
1440
+ 0,
1441
+ 2
1442
+ ],
1443
+ "joint_positions": [
1444
+ -0.0,
1445
+ 0.3993549942970276
1446
+ ],
1447
+ "cam_pose": [
1448
+ -2.487166166305542,
1449
+ 0.6495893597602844,
1450
+ 0.8687933683395386
1451
+ ],
1452
+ "cam_distance": 2.7134413719177246
1453
+ },
1454
+ {
1455
+ "frame": 76,
1456
+ "take": 3,
1457
+ "manipulation_level": 2,
1458
+ "active_joints": [
1459
+ 0,
1460
+ 2
1461
+ ],
1462
+ "joint_positions": [
1463
+ -0.0,
1464
+ 0.4259786605834961
1465
+ ],
1466
+ "cam_pose": [
1467
+ -2.487166166305542,
1468
+ 0.6495893597602844,
1469
+ 0.8687933683395386
1470
+ ],
1471
+ "cam_distance": 2.7134413719177246
1472
+ },
1473
+ {
1474
+ "frame": 77,
1475
+ "take": 3,
1476
+ "manipulation_level": 2,
1477
+ "active_joints": [
1478
+ 0,
1479
+ 2
1480
+ ],
1481
+ "joint_positions": [
1482
+ -0.0,
1483
+ 0.4526023268699646
1484
+ ],
1485
+ "cam_pose": [
1486
+ -2.487166166305542,
1487
+ 0.6495893597602844,
1488
+ 0.8687933683395386
1489
+ ],
1490
+ "cam_distance": 2.7134413719177246
1491
+ },
1492
+ {
1493
+ "frame": 78,
1494
+ "take": 3,
1495
+ "manipulation_level": 2,
1496
+ "active_joints": [
1497
+ 0,
1498
+ 2
1499
+ ],
1500
+ "joint_positions": [
1501
+ -0.0,
1502
+ 0.4792259931564331
1503
+ ],
1504
+ "cam_pose": [
1505
+ -2.487166166305542,
1506
+ 0.6495893597602844,
1507
+ 0.8687933683395386
1508
+ ],
1509
+ "cam_distance": 2.7134413719177246
1510
+ },
1511
+ {
1512
+ "frame": 79,
1513
+ "take": 3,
1514
+ "manipulation_level": 2,
1515
+ "active_joints": [
1516
+ 0,
1517
+ 2
1518
+ ],
1519
+ "joint_positions": [
1520
+ -0.0,
1521
+ 0.5058496594429016
1522
+ ],
1523
+ "cam_pose": [
1524
+ -2.487166166305542,
1525
+ 0.6495893597602844,
1526
+ 0.8687933683395386
1527
+ ],
1528
+ "cam_distance": 2.7134413719177246
1529
+ },
1530
+ {
1531
+ "frame": 80,
1532
+ "take": 3,
1533
+ "manipulation_level": 2,
1534
+ "active_joints": [
1535
+ 0,
1536
+ 2
1537
+ ],
1538
+ "joint_positions": [
1539
+ -0.0,
1540
+ 0.5324733257293701
1541
+ ],
1542
+ "cam_pose": [
1543
+ -2.487166166305542,
1544
+ 0.6495893597602844,
1545
+ 0.8687933683395386
1546
+ ],
1547
+ "cam_distance": 2.7134413719177246
1548
+ },
1549
+ {
1550
+ "frame": 81,
1551
+ "take": 3,
1552
+ "manipulation_level": 2,
1553
+ "active_joints": [
1554
+ 0,
1555
+ 2
1556
+ ],
1557
+ "joint_positions": [
1558
+ -0.0,
1559
+ 0.5590969920158386
1560
+ ],
1561
+ "cam_pose": [
1562
+ -2.487166166305542,
1563
+ 0.6495893597602844,
1564
+ 0.8687933683395386
1565
+ ],
1566
+ "cam_distance": 2.7134413719177246
1567
+ },
1568
+ {
1569
+ "frame": 82,
1570
+ "take": 3,
1571
+ "manipulation_level": 2,
1572
+ "active_joints": [
1573
+ 0,
1574
+ 2
1575
+ ],
1576
+ "joint_positions": [
1577
+ -0.0,
1578
+ 0.5857206583023071
1579
+ ],
1580
+ "cam_pose": [
1581
+ -2.487166166305542,
1582
+ 0.6495893597602844,
1583
+ 0.8687933683395386
1584
+ ],
1585
+ "cam_distance": 2.7134413719177246
1586
+ },
1587
+ {
1588
+ "frame": 83,
1589
+ "take": 3,
1590
+ "manipulation_level": 2,
1591
+ "active_joints": [
1592
+ 0,
1593
+ 2
1594
+ ],
1595
+ "joint_positions": [
1596
+ -0.0,
1597
+ 0.6123443245887756
1598
+ ],
1599
+ "cam_pose": [
1600
+ -2.487166166305542,
1601
+ 0.6495893597602844,
1602
+ 0.8687933683395386
1603
+ ],
1604
+ "cam_distance": 2.7134413719177246
1605
+ },
1606
+ {
1607
+ "frame": 84,
1608
+ "take": 3,
1609
+ "manipulation_level": 2,
1610
+ "active_joints": [
1611
+ 0,
1612
+ 2
1613
+ ],
1614
+ "joint_positions": [
1615
+ -0.0,
1616
+ 0.6389679908752441
1617
+ ],
1618
+ "cam_pose": [
1619
+ -2.487166166305542,
1620
+ 0.6495893597602844,
1621
+ 0.8687933683395386
1622
+ ],
1623
+ "cam_distance": 2.7134413719177246
1624
+ },
1625
+ {
1626
+ "frame": 85,
1627
+ "take": 3,
1628
+ "manipulation_level": 2,
1629
+ "active_joints": [
1630
+ 0,
1631
+ 2
1632
+ ],
1633
+ "joint_positions": [
1634
+ -0.0,
1635
+ 0.6655916571617126
1636
+ ],
1637
+ "cam_pose": [
1638
+ -2.487166166305542,
1639
+ 0.6495893597602844,
1640
+ 0.8687933683395386
1641
+ ],
1642
+ "cam_distance": 2.7134413719177246
1643
+ },
1644
+ {
1645
+ "frame": 86,
1646
+ "take": 3,
1647
+ "manipulation_level": 2,
1648
+ "active_joints": [
1649
+ 0,
1650
+ 2
1651
+ ],
1652
+ "joint_positions": [
1653
+ -0.0,
1654
+ 0.6922153234481812
1655
+ ],
1656
+ "cam_pose": [
1657
+ -2.487166166305542,
1658
+ 0.6495893597602844,
1659
+ 0.8687933683395386
1660
+ ],
1661
+ "cam_distance": 2.7134413719177246
1662
+ },
1663
+ {
1664
+ "frame": 87,
1665
+ "take": 3,
1666
+ "manipulation_level": 2,
1667
+ "active_joints": [
1668
+ 0,
1669
+ 2
1670
+ ],
1671
+ "joint_positions": [
1672
+ -0.0,
1673
+ 0.7188389897346497
1674
+ ],
1675
+ "cam_pose": [
1676
+ -2.487166166305542,
1677
+ 0.6495893597602844,
1678
+ 0.8687933683395386
1679
+ ],
1680
+ "cam_distance": 2.7134413719177246
1681
+ },
1682
+ {
1683
+ "frame": 88,
1684
+ "take": 3,
1685
+ "manipulation_level": 2,
1686
+ "active_joints": [
1687
+ 0,
1688
+ 2
1689
+ ],
1690
+ "joint_positions": [
1691
+ -0.0,
1692
+ 0.7454626560211182
1693
+ ],
1694
+ "cam_pose": [
1695
+ -2.487166166305542,
1696
+ 0.6495893597602844,
1697
+ 0.8687933683395386
1698
+ ],
1699
+ "cam_distance": 2.7134413719177246
1700
+ },
1701
+ {
1702
+ "frame": 89,
1703
+ "take": 3,
1704
+ "manipulation_level": 2,
1705
+ "active_joints": [
1706
+ 0,
1707
+ 2
1708
+ ],
1709
+ "joint_positions": [
1710
+ -0.0,
1711
+ 0.7720863223075867
1712
+ ],
1713
+ "cam_pose": [
1714
+ -2.487166166305542,
1715
+ 0.6495893597602844,
1716
+ 0.8687933683395386
1717
+ ],
1718
+ "cam_distance": 2.7134413719177246
1719
+ },
1720
+ {
1721
+ "frame": 90,
1722
+ "take": 3,
1723
+ "manipulation_level": 2,
1724
+ "active_joints": [
1725
+ 0,
1726
+ 2
1727
+ ],
1728
+ "joint_positions": [
1729
+ -0.0,
1730
+ 0.7987099885940552
1731
+ ],
1732
+ "cam_pose": [
1733
+ -2.487166166305542,
1734
+ 0.6495893597602844,
1735
+ 0.8687933683395386
1736
+ ],
1737
+ "cam_distance": 2.7134413719177246
1738
+ },
1739
+ {
1740
+ "frame": 91,
1741
+ "take": 3,
1742
+ "manipulation_level": 2,
1743
+ "active_joints": [
1744
+ 0,
1745
+ 2
1746
+ ],
1747
+ "joint_positions": [
1748
+ -0.0,
1749
+ 0.8253336548805237
1750
+ ],
1751
+ "cam_pose": [
1752
+ -2.487166166305542,
1753
+ 0.6495893597602844,
1754
+ 0.8687933683395386
1755
+ ],
1756
+ "cam_distance": 2.7134413719177246
1757
+ },
1758
+ {
1759
+ "frame": 92,
1760
+ "take": 3,
1761
+ "manipulation_level": 2,
1762
+ "active_joints": [
1763
+ 0,
1764
+ 2
1765
+ ],
1766
+ "joint_positions": [
1767
+ -0.0,
1768
+ 0.8519573211669922
1769
+ ],
1770
+ "cam_pose": [
1771
+ -2.487166166305542,
1772
+ 0.6495893597602844,
1773
+ 0.8687933683395386
1774
+ ],
1775
+ "cam_distance": 2.7134413719177246
1776
+ },
1777
+ {
1778
+ "frame": 93,
1779
+ "take": 3,
1780
+ "manipulation_level": 2,
1781
+ "active_joints": [
1782
+ 0,
1783
+ 2
1784
+ ],
1785
+ "joint_positions": [
1786
+ -0.0,
1787
+ 0.8785809874534607
1788
+ ],
1789
+ "cam_pose": [
1790
+ -2.487166166305542,
1791
+ 0.6495893597602844,
1792
+ 0.8687933683395386
1793
+ ],
1794
+ "cam_distance": 2.7134413719177246
1795
+ },
1796
+ {
1797
+ "frame": 94,
1798
+ "take": 3,
1799
+ "manipulation_level": 2,
1800
+ "active_joints": [
1801
+ 0,
1802
+ 2
1803
+ ],
1804
+ "joint_positions": [
1805
+ -0.0,
1806
+ 0.9052046537399292
1807
+ ],
1808
+ "cam_pose": [
1809
+ -2.487166166305542,
1810
+ 0.6495893597602844,
1811
+ 0.8687933683395386
1812
+ ],
1813
+ "cam_distance": 2.7134413719177246
1814
+ },
1815
+ {
1816
+ "frame": 95,
1817
+ "take": 3,
1818
+ "manipulation_level": 2,
1819
+ "active_joints": [
1820
+ 0,
1821
+ 2
1822
+ ],
1823
+ "joint_positions": [
1824
+ -0.0,
1825
+ 0.9318283200263977
1826
+ ],
1827
+ "cam_pose": [
1828
+ -2.487166166305542,
1829
+ 0.6495893597602844,
1830
+ 0.8687933683395386
1831
+ ],
1832
+ "cam_distance": 2.7134413719177246
1833
+ },
1834
+ {
1835
+ "frame": 96,
1836
+ "take": 3,
1837
+ "manipulation_level": 2,
1838
+ "active_joints": [
1839
+ 0,
1840
+ 2
1841
+ ],
1842
+ "joint_positions": [
1843
+ -0.0,
1844
+ 0.9584519863128662
1845
+ ],
1846
+ "cam_pose": [
1847
+ -2.487166166305542,
1848
+ 0.6495893597602844,
1849
+ 0.8687933683395386
1850
+ ],
1851
+ "cam_distance": 2.7134413719177246
1852
+ },
1853
+ {
1854
+ "frame": 97,
1855
+ "take": 3,
1856
+ "manipulation_level": 2,
1857
+ "active_joints": [
1858
+ 0,
1859
+ 2
1860
+ ],
1861
+ "joint_positions": [
1862
+ -0.0,
1863
+ 0.9850756525993347
1864
+ ],
1865
+ "cam_pose": [
1866
+ -2.487166166305542,
1867
+ 0.6495893597602844,
1868
+ 0.8687933683395386
1869
+ ],
1870
+ "cam_distance": 2.7134413719177246
1871
+ },
1872
+ {
1873
+ "frame": 98,
1874
+ "take": 3,
1875
+ "manipulation_level": 2,
1876
+ "active_joints": [
1877
+ 0,
1878
+ 2
1879
+ ],
1880
+ "joint_positions": [
1881
+ -0.0,
1882
+ 1.0116993188858032
1883
+ ],
1884
+ "cam_pose": [
1885
+ -2.487166166305542,
1886
+ 0.6495893597602844,
1887
+ 0.8687933683395386
1888
+ ],
1889
+ "cam_distance": 2.7134413719177246
1890
+ },
1891
+ {
1892
+ "frame": 99,
1893
+ "take": 3,
1894
+ "manipulation_level": 2,
1895
+ "active_joints": [
1896
+ 0,
1897
+ 2
1898
+ ],
1899
+ "joint_positions": [
1900
+ -0.0,
1901
+ 1.0383230447769165
1902
+ ],
1903
+ "cam_pose": [
1904
+ -2.487166166305542,
1905
+ 0.6495893597602844,
1906
+ 0.8687933683395386
1907
+ ],
1908
+ "cam_distance": 2.7134413719177246
1909
+ },
1910
+ {
1911
+ "frame": 100,
1912
+ "take": 3,
1913
+ "manipulation_level": 2,
1914
+ "active_joints": [
1915
+ 0,
1916
+ 2
1917
+ ],
1918
+ "joint_positions": [
1919
+ -0.0,
1920
+ 1.0649466514587402
1921
+ ],
1922
+ "cam_pose": [
1923
+ -2.487166166305542,
1924
+ 0.6495893597602844,
1925
+ 0.8687933683395386
1926
+ ],
1927
+ "cam_distance": 2.7134413719177246
1928
+ },
1929
+ {
1930
+ "frame": 101,
1931
+ "take": 3,
1932
+ "manipulation_level": 2,
1933
+ "active_joints": [
1934
+ 0,
1935
+ 2
1936
+ ],
1937
+ "joint_positions": [
1938
+ -0.0,
1939
+ 1.0915703773498535
1940
+ ],
1941
+ "cam_pose": [
1942
+ -2.487166166305542,
1943
+ 0.6495893597602844,
1944
+ 0.8687933683395386
1945
+ ],
1946
+ "cam_distance": 2.7134413719177246
1947
+ },
1948
+ {
1949
+ "frame": 102,
1950
+ "take": 3,
1951
+ "manipulation_level": 2,
1952
+ "active_joints": [
1953
+ 0,
1954
+ 2
1955
+ ],
1956
+ "joint_positions": [
1957
+ -0.0,
1958
+ 1.1181939840316772
1959
+ ],
1960
+ "cam_pose": [
1961
+ -2.487166166305542,
1962
+ 0.6495893597602844,
1963
+ 0.8687933683395386
1964
+ ],
1965
+ "cam_distance": 2.7134413719177246
1966
+ },
1967
+ {
1968
+ "frame": 103,
1969
+ "take": 3,
1970
+ "manipulation_level": 2,
1971
+ "active_joints": [
1972
+ 0,
1973
+ 2
1974
+ ],
1975
+ "joint_positions": [
1976
+ -0.0,
1977
+ 1.1448177099227905
1978
+ ],
1979
+ "cam_pose": [
1980
+ -2.487166166305542,
1981
+ 0.6495893597602844,
1982
+ 0.8687933683395386
1983
+ ],
1984
+ "cam_distance": 2.7134413719177246
1985
+ },
1986
+ {
1987
+ "frame": 104,
1988
+ "take": 3,
1989
+ "manipulation_level": 2,
1990
+ "active_joints": [
1991
+ 0,
1992
+ 2
1993
+ ],
1994
+ "joint_positions": [
1995
+ -0.0,
1996
+ 1.1714413166046143
1997
+ ],
1998
+ "cam_pose": [
1999
+ -2.487166166305542,
2000
+ 0.6495893597602844,
2001
+ 0.8687933683395386
2002
+ ],
2003
+ "cam_distance": 2.7134413719177246
2004
+ },
2005
+ {
2006
+ "frame": 105,
2007
+ "take": 3,
2008
+ "manipulation_level": 2,
2009
+ "active_joints": [
2010
+ 0,
2011
+ 2
2012
+ ],
2013
+ "joint_positions": [
2014
+ -0.0,
2015
+ 1.1980650424957275
2016
+ ],
2017
+ "cam_pose": [
2018
+ -2.487166166305542,
2019
+ 0.6495893597602844,
2020
+ 0.8687933683395386
2021
+ ],
2022
+ "cam_distance": 2.7134413719177246
2023
+ },
2024
+ {
2025
+ "frame": 106,
2026
+ "take": 3,
2027
+ "manipulation_level": 2,
2028
+ "active_joints": [
2029
+ 0,
2030
+ 2
2031
+ ],
2032
+ "joint_positions": [
2033
+ -0.0,
2034
+ 1.2246886491775513
2035
+ ],
2036
+ "cam_pose": [
2037
+ -2.487166166305542,
2038
+ 0.6495893597602844,
2039
+ 0.8687933683395386
2040
+ ],
2041
+ "cam_distance": 2.7134413719177246
2042
+ },
2043
+ {
2044
+ "frame": 107,
2045
+ "take": 3,
2046
+ "manipulation_level": 2,
2047
+ "active_joints": [
2048
+ 0,
2049
+ 2
2050
+ ],
2051
+ "joint_positions": [
2052
+ -0.0,
2053
+ 1.2513123750686646
2054
+ ],
2055
+ "cam_pose": [
2056
+ -2.487166166305542,
2057
+ 0.6495893597602844,
2058
+ 0.8687933683395386
2059
+ ],
2060
+ "cam_distance": 2.7134413719177246
2061
+ },
2062
+ {
2063
+ "frame": 108,
2064
+ "take": 3,
2065
+ "manipulation_level": 2,
2066
+ "active_joints": [
2067
+ 0,
2068
+ 2
2069
+ ],
2070
+ "joint_positions": [
2071
+ -0.0,
2072
+ 1.2779359817504883
2073
+ ],
2074
+ "cam_pose": [
2075
+ -2.487166166305542,
2076
+ 0.6495893597602844,
2077
+ 0.8687933683395386
2078
+ ],
2079
+ "cam_distance": 2.7134413719177246
2080
+ },
2081
+ {
2082
+ "frame": 109,
2083
+ "take": 3,
2084
+ "manipulation_level": 2,
2085
+ "active_joints": [
2086
+ 0,
2087
+ 2
2088
+ ],
2089
+ "joint_positions": [
2090
+ -0.0,
2091
+ 1.3045597076416016
2092
+ ],
2093
+ "cam_pose": [
2094
+ -2.487166166305542,
2095
+ 0.6495893597602844,
2096
+ 0.8687933683395386
2097
+ ],
2098
+ "cam_distance": 2.7134413719177246
2099
+ },
2100
+ {
2101
+ "frame": 110,
2102
+ "take": 3,
2103
+ "manipulation_level": 2,
2104
+ "active_joints": [
2105
+ 0,
2106
+ 2
2107
+ ],
2108
+ "joint_positions": [
2109
+ -0.0,
2110
+ 1.3311833143234253
2111
+ ],
2112
+ "cam_pose": [
2113
+ -2.487166166305542,
2114
+ 0.6495893597602844,
2115
+ 0.8687933683395386
2116
+ ],
2117
+ "cam_distance": 2.7134413719177246
2118
+ },
2119
+ {
2120
+ "frame": 111,
2121
+ "take": 3,
2122
+ "manipulation_level": 2,
2123
+ "active_joints": [
2124
+ 0,
2125
+ 2
2126
+ ],
2127
+ "joint_positions": [
2128
+ -0.0,
2129
+ 1.3578070402145386
2130
+ ],
2131
+ "cam_pose": [
2132
+ -2.487166166305542,
2133
+ 0.6495893597602844,
2134
+ 0.8687933683395386
2135
+ ],
2136
+ "cam_distance": 2.7134413719177246
2137
+ },
2138
+ {
2139
+ "frame": 112,
2140
+ "take": 3,
2141
+ "manipulation_level": 2,
2142
+ "active_joints": [
2143
+ 0,
2144
+ 2
2145
+ ],
2146
+ "joint_positions": [
2147
+ -0.0,
2148
+ 1.3844306468963623
2149
+ ],
2150
+ "cam_pose": [
2151
+ -2.487166166305542,
2152
+ 0.6495893597602844,
2153
+ 0.8687933683395386
2154
+ ],
2155
+ "cam_distance": 2.7134413719177246
2156
+ },
2157
+ {
2158
+ "frame": 113,
2159
+ "take": 3,
2160
+ "manipulation_level": 2,
2161
+ "active_joints": [
2162
+ 0,
2163
+ 2
2164
+ ],
2165
+ "joint_positions": [
2166
+ -0.0,
2167
+ 1.4110543727874756
2168
+ ],
2169
+ "cam_pose": [
2170
+ -2.487166166305542,
2171
+ 0.6495893597602844,
2172
+ 0.8687933683395386
2173
+ ],
2174
+ "cam_distance": 2.7134413719177246
2175
+ },
2176
+ {
2177
+ "frame": 114,
2178
+ "take": 3,
2179
+ "manipulation_level": 2,
2180
+ "active_joints": [
2181
+ 0,
2182
+ 2
2183
+ ],
2184
+ "joint_positions": [
2185
+ -0.0,
2186
+ 1.4376779794692993
2187
+ ],
2188
+ "cam_pose": [
2189
+ -2.487166166305542,
2190
+ 0.6495893597602844,
2191
+ 0.8687933683395386
2192
+ ],
2193
+ "cam_distance": 2.7134413719177246
2194
+ },
2195
+ {
2196
+ "frame": 115,
2197
+ "take": 3,
2198
+ "manipulation_level": 2,
2199
+ "active_joints": [
2200
+ 0,
2201
+ 2
2202
+ ],
2203
+ "joint_positions": [
2204
+ -0.0,
2205
+ 1.4643017053604126
2206
+ ],
2207
+ "cam_pose": [
2208
+ -2.487166166305542,
2209
+ 0.6495893597602844,
2210
+ 0.8687933683395386
2211
+ ],
2212
+ "cam_distance": 2.7134413719177246
2213
+ },
2214
+ {
2215
+ "frame": 116,
2216
+ "take": 3,
2217
+ "manipulation_level": 2,
2218
+ "active_joints": [
2219
+ 0,
2220
+ 2
2221
+ ],
2222
+ "joint_positions": [
2223
+ -0.0,
2224
+ 1.4909253120422363
2225
+ ],
2226
+ "cam_pose": [
2227
+ -2.487166166305542,
2228
+ 0.6495893597602844,
2229
+ 0.8687933683395386
2230
+ ],
2231
+ "cam_distance": 2.7134413719177246
2232
+ },
2233
+ {
2234
+ "frame": 117,
2235
+ "take": 3,
2236
+ "manipulation_level": 2,
2237
+ "active_joints": [
2238
+ 0,
2239
+ 2
2240
+ ],
2241
+ "joint_positions": [
2242
+ -0.0,
2243
+ 1.5175490379333496
2244
+ ],
2245
+ "cam_pose": [
2246
+ -2.487166166305542,
2247
+ 0.6495893597602844,
2248
+ 0.8687933683395386
2249
+ ],
2250
+ "cam_distance": 2.7134413719177246
2251
+ },
2252
+ {
2253
+ "frame": 118,
2254
+ "take": 3,
2255
+ "manipulation_level": 2,
2256
+ "active_joints": [
2257
+ 0,
2258
+ 2
2259
+ ],
2260
+ "joint_positions": [
2261
+ -0.0,
2262
+ 1.5441726446151733
2263
+ ],
2264
+ "cam_pose": [
2265
+ -2.487166166305542,
2266
+ 0.6495893597602844,
2267
+ 0.8687933683395386
2268
+ ],
2269
+ "cam_distance": 2.7134413719177246
2270
+ },
2271
+ {
2272
+ "frame": 119,
2273
+ "take": 3,
2274
+ "manipulation_level": 2,
2275
+ "active_joints": [
2276
+ 0,
2277
+ 2
2278
+ ],
2279
+ "joint_positions": [
2280
+ -0.0,
2281
+ 1.5707963705062866
2282
+ ],
2283
+ "cam_pose": [
2284
+ -2.487166166305542,
2285
+ 0.6495893597602844,
2286
+ 0.8687933683395386
2287
+ ],
2288
+ "cam_distance": 2.7134413719177246
2289
+ }
2290
+ ]
2291
+ }
41003/take_04/metadata.json ADDED
@@ -0,0 +1,2291 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object_id": "41003",
3
+ "manipulation_level": 2,
4
+ "active_joints": [
5
+ 2,
6
+ 3
7
+ ],
8
+ "total_joints": 4,
9
+ "frames": [
10
+ {
11
+ "frame": 0,
12
+ "take": 4,
13
+ "manipulation_level": 2,
14
+ "active_joints": [
15
+ 2,
16
+ 3
17
+ ],
18
+ "joint_positions": [
19
+ 0.0,
20
+ -0.0
21
+ ],
22
+ "cam_pose": [
23
+ -2.473494529724121,
24
+ -0.2667948305606842,
25
+ 0.3986389636993408
26
+ ],
27
+ "cam_distance": 2.5195767879486084
28
+ },
29
+ {
30
+ "frame": 1,
31
+ "take": 4,
32
+ "manipulation_level": 2,
33
+ "active_joints": [
34
+ 2,
35
+ 3
36
+ ],
37
+ "joint_positions": [
38
+ 0.026623666286468506,
39
+ -0.0
40
+ ],
41
+ "cam_pose": [
42
+ -2.473494529724121,
43
+ -0.2667948305606842,
44
+ 0.3986389636993408
45
+ ],
46
+ "cam_distance": 2.5195767879486084
47
+ },
48
+ {
49
+ "frame": 2,
50
+ "take": 4,
51
+ "manipulation_level": 2,
52
+ "active_joints": [
53
+ 2,
54
+ 3
55
+ ],
56
+ "joint_positions": [
57
+ 0.05324733257293701,
58
+ -0.0
59
+ ],
60
+ "cam_pose": [
61
+ -2.473494529724121,
62
+ -0.2667948305606842,
63
+ 0.3986389636993408
64
+ ],
65
+ "cam_distance": 2.5195767879486084
66
+ },
67
+ {
68
+ "frame": 3,
69
+ "take": 4,
70
+ "manipulation_level": 2,
71
+ "active_joints": [
72
+ 2,
73
+ 3
74
+ ],
75
+ "joint_positions": [
76
+ 0.07987099885940552,
77
+ -0.0
78
+ ],
79
+ "cam_pose": [
80
+ -2.473494529724121,
81
+ -0.2667948305606842,
82
+ 0.3986389636993408
83
+ ],
84
+ "cam_distance": 2.5195767879486084
85
+ },
86
+ {
87
+ "frame": 4,
88
+ "take": 4,
89
+ "manipulation_level": 2,
90
+ "active_joints": [
91
+ 2,
92
+ 3
93
+ ],
94
+ "joint_positions": [
95
+ 0.10649466514587402,
96
+ -0.0
97
+ ],
98
+ "cam_pose": [
99
+ -2.473494529724121,
100
+ -0.2667948305606842,
101
+ 0.3986389636993408
102
+ ],
103
+ "cam_distance": 2.5195767879486084
104
+ },
105
+ {
106
+ "frame": 5,
107
+ "take": 4,
108
+ "manipulation_level": 2,
109
+ "active_joints": [
110
+ 2,
111
+ 3
112
+ ],
113
+ "joint_positions": [
114
+ 0.13311833143234253,
115
+ -0.0
116
+ ],
117
+ "cam_pose": [
118
+ -2.473494529724121,
119
+ -0.2667948305606842,
120
+ 0.3986389636993408
121
+ ],
122
+ "cam_distance": 2.5195767879486084
123
+ },
124
+ {
125
+ "frame": 6,
126
+ "take": 4,
127
+ "manipulation_level": 2,
128
+ "active_joints": [
129
+ 2,
130
+ 3
131
+ ],
132
+ "joint_positions": [
133
+ 0.15974199771881104,
134
+ -0.0
135
+ ],
136
+ "cam_pose": [
137
+ -2.473494529724121,
138
+ -0.2667948305606842,
139
+ 0.3986389636993408
140
+ ],
141
+ "cam_distance": 2.5195767879486084
142
+ },
143
+ {
144
+ "frame": 7,
145
+ "take": 4,
146
+ "manipulation_level": 2,
147
+ "active_joints": [
148
+ 2,
149
+ 3
150
+ ],
151
+ "joint_positions": [
152
+ 0.18636566400527954,
153
+ -0.0
154
+ ],
155
+ "cam_pose": [
156
+ -2.473494529724121,
157
+ -0.2667948305606842,
158
+ 0.3986389636993408
159
+ ],
160
+ "cam_distance": 2.5195767879486084
161
+ },
162
+ {
163
+ "frame": 8,
164
+ "take": 4,
165
+ "manipulation_level": 2,
166
+ "active_joints": [
167
+ 2,
168
+ 3
169
+ ],
170
+ "joint_positions": [
171
+ 0.21298933029174805,
172
+ -0.0
173
+ ],
174
+ "cam_pose": [
175
+ -2.473494529724121,
176
+ -0.2667948305606842,
177
+ 0.3986389636993408
178
+ ],
179
+ "cam_distance": 2.5195767879486084
180
+ },
181
+ {
182
+ "frame": 9,
183
+ "take": 4,
184
+ "manipulation_level": 2,
185
+ "active_joints": [
186
+ 2,
187
+ 3
188
+ ],
189
+ "joint_positions": [
190
+ 0.23961299657821655,
191
+ -0.0
192
+ ],
193
+ "cam_pose": [
194
+ -2.473494529724121,
195
+ -0.2667948305606842,
196
+ 0.3986389636993408
197
+ ],
198
+ "cam_distance": 2.5195767879486084
199
+ },
200
+ {
201
+ "frame": 10,
202
+ "take": 4,
203
+ "manipulation_level": 2,
204
+ "active_joints": [
205
+ 2,
206
+ 3
207
+ ],
208
+ "joint_positions": [
209
+ 0.26623666286468506,
210
+ -0.0
211
+ ],
212
+ "cam_pose": [
213
+ -2.473494529724121,
214
+ -0.2667948305606842,
215
+ 0.3986389636993408
216
+ ],
217
+ "cam_distance": 2.5195767879486084
218
+ },
219
+ {
220
+ "frame": 11,
221
+ "take": 4,
222
+ "manipulation_level": 2,
223
+ "active_joints": [
224
+ 2,
225
+ 3
226
+ ],
227
+ "joint_positions": [
228
+ 0.29286032915115356,
229
+ -0.0
230
+ ],
231
+ "cam_pose": [
232
+ -2.473494529724121,
233
+ -0.2667948305606842,
234
+ 0.3986389636993408
235
+ ],
236
+ "cam_distance": 2.5195767879486084
237
+ },
238
+ {
239
+ "frame": 12,
240
+ "take": 4,
241
+ "manipulation_level": 2,
242
+ "active_joints": [
243
+ 2,
244
+ 3
245
+ ],
246
+ "joint_positions": [
247
+ 0.31948399543762207,
248
+ -0.0
249
+ ],
250
+ "cam_pose": [
251
+ -2.473494529724121,
252
+ -0.2667948305606842,
253
+ 0.3986389636993408
254
+ ],
255
+ "cam_distance": 2.5195767879486084
256
+ },
257
+ {
258
+ "frame": 13,
259
+ "take": 4,
260
+ "manipulation_level": 2,
261
+ "active_joints": [
262
+ 2,
263
+ 3
264
+ ],
265
+ "joint_positions": [
266
+ 0.3461076617240906,
267
+ -0.0
268
+ ],
269
+ "cam_pose": [
270
+ -2.473494529724121,
271
+ -0.2667948305606842,
272
+ 0.3986389636993408
273
+ ],
274
+ "cam_distance": 2.5195767879486084
275
+ },
276
+ {
277
+ "frame": 14,
278
+ "take": 4,
279
+ "manipulation_level": 2,
280
+ "active_joints": [
281
+ 2,
282
+ 3
283
+ ],
284
+ "joint_positions": [
285
+ 0.3727313280105591,
286
+ -0.0
287
+ ],
288
+ "cam_pose": [
289
+ -2.473494529724121,
290
+ -0.2667948305606842,
291
+ 0.3986389636993408
292
+ ],
293
+ "cam_distance": 2.5195767879486084
294
+ },
295
+ {
296
+ "frame": 15,
297
+ "take": 4,
298
+ "manipulation_level": 2,
299
+ "active_joints": [
300
+ 2,
301
+ 3
302
+ ],
303
+ "joint_positions": [
304
+ 0.3993549942970276,
305
+ -0.0
306
+ ],
307
+ "cam_pose": [
308
+ -2.473494529724121,
309
+ -0.2667948305606842,
310
+ 0.3986389636993408
311
+ ],
312
+ "cam_distance": 2.5195767879486084
313
+ },
314
+ {
315
+ "frame": 16,
316
+ "take": 4,
317
+ "manipulation_level": 2,
318
+ "active_joints": [
319
+ 2,
320
+ 3
321
+ ],
322
+ "joint_positions": [
323
+ 0.4259786605834961,
324
+ -0.0
325
+ ],
326
+ "cam_pose": [
327
+ -2.473494529724121,
328
+ -0.2667948305606842,
329
+ 0.3986389636993408
330
+ ],
331
+ "cam_distance": 2.5195767879486084
332
+ },
333
+ {
334
+ "frame": 17,
335
+ "take": 4,
336
+ "manipulation_level": 2,
337
+ "active_joints": [
338
+ 2,
339
+ 3
340
+ ],
341
+ "joint_positions": [
342
+ 0.4526023268699646,
343
+ -0.0
344
+ ],
345
+ "cam_pose": [
346
+ -2.473494529724121,
347
+ -0.2667948305606842,
348
+ 0.3986389636993408
349
+ ],
350
+ "cam_distance": 2.5195767879486084
351
+ },
352
+ {
353
+ "frame": 18,
354
+ "take": 4,
355
+ "manipulation_level": 2,
356
+ "active_joints": [
357
+ 2,
358
+ 3
359
+ ],
360
+ "joint_positions": [
361
+ 0.4792259931564331,
362
+ -0.0
363
+ ],
364
+ "cam_pose": [
365
+ -2.473494529724121,
366
+ -0.2667948305606842,
367
+ 0.3986389636993408
368
+ ],
369
+ "cam_distance": 2.5195767879486084
370
+ },
371
+ {
372
+ "frame": 19,
373
+ "take": 4,
374
+ "manipulation_level": 2,
375
+ "active_joints": [
376
+ 2,
377
+ 3
378
+ ],
379
+ "joint_positions": [
380
+ 0.5058496594429016,
381
+ -0.0
382
+ ],
383
+ "cam_pose": [
384
+ -2.473494529724121,
385
+ -0.2667948305606842,
386
+ 0.3986389636993408
387
+ ],
388
+ "cam_distance": 2.5195767879486084
389
+ },
390
+ {
391
+ "frame": 20,
392
+ "take": 4,
393
+ "manipulation_level": 2,
394
+ "active_joints": [
395
+ 2,
396
+ 3
397
+ ],
398
+ "joint_positions": [
399
+ 0.5324733257293701,
400
+ -0.0
401
+ ],
402
+ "cam_pose": [
403
+ -2.473494529724121,
404
+ -0.2667948305606842,
405
+ 0.3986389636993408
406
+ ],
407
+ "cam_distance": 2.5195767879486084
408
+ },
409
+ {
410
+ "frame": 21,
411
+ "take": 4,
412
+ "manipulation_level": 2,
413
+ "active_joints": [
414
+ 2,
415
+ 3
416
+ ],
417
+ "joint_positions": [
418
+ 0.5590969920158386,
419
+ -0.0
420
+ ],
421
+ "cam_pose": [
422
+ -2.473494529724121,
423
+ -0.2667948305606842,
424
+ 0.3986389636993408
425
+ ],
426
+ "cam_distance": 2.5195767879486084
427
+ },
428
+ {
429
+ "frame": 22,
430
+ "take": 4,
431
+ "manipulation_level": 2,
432
+ "active_joints": [
433
+ 2,
434
+ 3
435
+ ],
436
+ "joint_positions": [
437
+ 0.5857206583023071,
438
+ -0.0
439
+ ],
440
+ "cam_pose": [
441
+ -2.473494529724121,
442
+ -0.2667948305606842,
443
+ 0.3986389636993408
444
+ ],
445
+ "cam_distance": 2.5195767879486084
446
+ },
447
+ {
448
+ "frame": 23,
449
+ "take": 4,
450
+ "manipulation_level": 2,
451
+ "active_joints": [
452
+ 2,
453
+ 3
454
+ ],
455
+ "joint_positions": [
456
+ 0.6123443245887756,
457
+ -0.0
458
+ ],
459
+ "cam_pose": [
460
+ -2.473494529724121,
461
+ -0.2667948305606842,
462
+ 0.3986389636993408
463
+ ],
464
+ "cam_distance": 2.5195767879486084
465
+ },
466
+ {
467
+ "frame": 24,
468
+ "take": 4,
469
+ "manipulation_level": 2,
470
+ "active_joints": [
471
+ 2,
472
+ 3
473
+ ],
474
+ "joint_positions": [
475
+ 0.6389679908752441,
476
+ -0.0
477
+ ],
478
+ "cam_pose": [
479
+ -2.473494529724121,
480
+ -0.2667948305606842,
481
+ 0.3986389636993408
482
+ ],
483
+ "cam_distance": 2.5195767879486084
484
+ },
485
+ {
486
+ "frame": 25,
487
+ "take": 4,
488
+ "manipulation_level": 2,
489
+ "active_joints": [
490
+ 2,
491
+ 3
492
+ ],
493
+ "joint_positions": [
494
+ 0.6655916571617126,
495
+ -0.0
496
+ ],
497
+ "cam_pose": [
498
+ -2.473494529724121,
499
+ -0.2667948305606842,
500
+ 0.3986389636993408
501
+ ],
502
+ "cam_distance": 2.5195767879486084
503
+ },
504
+ {
505
+ "frame": 26,
506
+ "take": 4,
507
+ "manipulation_level": 2,
508
+ "active_joints": [
509
+ 2,
510
+ 3
511
+ ],
512
+ "joint_positions": [
513
+ 0.6922153234481812,
514
+ -0.0
515
+ ],
516
+ "cam_pose": [
517
+ -2.473494529724121,
518
+ -0.2667948305606842,
519
+ 0.3986389636993408
520
+ ],
521
+ "cam_distance": 2.5195767879486084
522
+ },
523
+ {
524
+ "frame": 27,
525
+ "take": 4,
526
+ "manipulation_level": 2,
527
+ "active_joints": [
528
+ 2,
529
+ 3
530
+ ],
531
+ "joint_positions": [
532
+ 0.7188389897346497,
533
+ -0.0
534
+ ],
535
+ "cam_pose": [
536
+ -2.473494529724121,
537
+ -0.2667948305606842,
538
+ 0.3986389636993408
539
+ ],
540
+ "cam_distance": 2.5195767879486084
541
+ },
542
+ {
543
+ "frame": 28,
544
+ "take": 4,
545
+ "manipulation_level": 2,
546
+ "active_joints": [
547
+ 2,
548
+ 3
549
+ ],
550
+ "joint_positions": [
551
+ 0.7454626560211182,
552
+ -0.0
553
+ ],
554
+ "cam_pose": [
555
+ -2.473494529724121,
556
+ -0.2667948305606842,
557
+ 0.3986389636993408
558
+ ],
559
+ "cam_distance": 2.5195767879486084
560
+ },
561
+ {
562
+ "frame": 29,
563
+ "take": 4,
564
+ "manipulation_level": 2,
565
+ "active_joints": [
566
+ 2,
567
+ 3
568
+ ],
569
+ "joint_positions": [
570
+ 0.7720863223075867,
571
+ -0.0
572
+ ],
573
+ "cam_pose": [
574
+ -2.473494529724121,
575
+ -0.2667948305606842,
576
+ 0.3986389636993408
577
+ ],
578
+ "cam_distance": 2.5195767879486084
579
+ },
580
+ {
581
+ "frame": 30,
582
+ "take": 4,
583
+ "manipulation_level": 2,
584
+ "active_joints": [
585
+ 2,
586
+ 3
587
+ ],
588
+ "joint_positions": [
589
+ 0.7987099885940552,
590
+ -0.0
591
+ ],
592
+ "cam_pose": [
593
+ -2.473494529724121,
594
+ -0.2667948305606842,
595
+ 0.3986389636993408
596
+ ],
597
+ "cam_distance": 2.5195767879486084
598
+ },
599
+ {
600
+ "frame": 31,
601
+ "take": 4,
602
+ "manipulation_level": 2,
603
+ "active_joints": [
604
+ 2,
605
+ 3
606
+ ],
607
+ "joint_positions": [
608
+ 0.8253336548805237,
609
+ -0.0
610
+ ],
611
+ "cam_pose": [
612
+ -2.473494529724121,
613
+ -0.2667948305606842,
614
+ 0.3986389636993408
615
+ ],
616
+ "cam_distance": 2.5195767879486084
617
+ },
618
+ {
619
+ "frame": 32,
620
+ "take": 4,
621
+ "manipulation_level": 2,
622
+ "active_joints": [
623
+ 2,
624
+ 3
625
+ ],
626
+ "joint_positions": [
627
+ 0.8519573211669922,
628
+ -0.0
629
+ ],
630
+ "cam_pose": [
631
+ -2.473494529724121,
632
+ -0.2667948305606842,
633
+ 0.3986389636993408
634
+ ],
635
+ "cam_distance": 2.5195767879486084
636
+ },
637
+ {
638
+ "frame": 33,
639
+ "take": 4,
640
+ "manipulation_level": 2,
641
+ "active_joints": [
642
+ 2,
643
+ 3
644
+ ],
645
+ "joint_positions": [
646
+ 0.8785809874534607,
647
+ -0.0
648
+ ],
649
+ "cam_pose": [
650
+ -2.473494529724121,
651
+ -0.2667948305606842,
652
+ 0.3986389636993408
653
+ ],
654
+ "cam_distance": 2.5195767879486084
655
+ },
656
+ {
657
+ "frame": 34,
658
+ "take": 4,
659
+ "manipulation_level": 2,
660
+ "active_joints": [
661
+ 2,
662
+ 3
663
+ ],
664
+ "joint_positions": [
665
+ 0.9052046537399292,
666
+ -0.0
667
+ ],
668
+ "cam_pose": [
669
+ -2.473494529724121,
670
+ -0.2667948305606842,
671
+ 0.3986389636993408
672
+ ],
673
+ "cam_distance": 2.5195767879486084
674
+ },
675
+ {
676
+ "frame": 35,
677
+ "take": 4,
678
+ "manipulation_level": 2,
679
+ "active_joints": [
680
+ 2,
681
+ 3
682
+ ],
683
+ "joint_positions": [
684
+ 0.9318283200263977,
685
+ -0.0
686
+ ],
687
+ "cam_pose": [
688
+ -2.473494529724121,
689
+ -0.2667948305606842,
690
+ 0.3986389636993408
691
+ ],
692
+ "cam_distance": 2.5195767879486084
693
+ },
694
+ {
695
+ "frame": 36,
696
+ "take": 4,
697
+ "manipulation_level": 2,
698
+ "active_joints": [
699
+ 2,
700
+ 3
701
+ ],
702
+ "joint_positions": [
703
+ 0.9584519863128662,
704
+ -0.0
705
+ ],
706
+ "cam_pose": [
707
+ -2.473494529724121,
708
+ -0.2667948305606842,
709
+ 0.3986389636993408
710
+ ],
711
+ "cam_distance": 2.5195767879486084
712
+ },
713
+ {
714
+ "frame": 37,
715
+ "take": 4,
716
+ "manipulation_level": 2,
717
+ "active_joints": [
718
+ 2,
719
+ 3
720
+ ],
721
+ "joint_positions": [
722
+ 0.9850756525993347,
723
+ -0.0
724
+ ],
725
+ "cam_pose": [
726
+ -2.473494529724121,
727
+ -0.2667948305606842,
728
+ 0.3986389636993408
729
+ ],
730
+ "cam_distance": 2.5195767879486084
731
+ },
732
+ {
733
+ "frame": 38,
734
+ "take": 4,
735
+ "manipulation_level": 2,
736
+ "active_joints": [
737
+ 2,
738
+ 3
739
+ ],
740
+ "joint_positions": [
741
+ 1.0116993188858032,
742
+ -0.0
743
+ ],
744
+ "cam_pose": [
745
+ -2.473494529724121,
746
+ -0.2667948305606842,
747
+ 0.3986389636993408
748
+ ],
749
+ "cam_distance": 2.5195767879486084
750
+ },
751
+ {
752
+ "frame": 39,
753
+ "take": 4,
754
+ "manipulation_level": 2,
755
+ "active_joints": [
756
+ 2,
757
+ 3
758
+ ],
759
+ "joint_positions": [
760
+ 1.0383230447769165,
761
+ -0.0
762
+ ],
763
+ "cam_pose": [
764
+ -2.473494529724121,
765
+ -0.2667948305606842,
766
+ 0.3986389636993408
767
+ ],
768
+ "cam_distance": 2.5195767879486084
769
+ },
770
+ {
771
+ "frame": 40,
772
+ "take": 4,
773
+ "manipulation_level": 2,
774
+ "active_joints": [
775
+ 2,
776
+ 3
777
+ ],
778
+ "joint_positions": [
779
+ 1.0649466514587402,
780
+ -0.0
781
+ ],
782
+ "cam_pose": [
783
+ -2.473494529724121,
784
+ -0.2667948305606842,
785
+ 0.3986389636993408
786
+ ],
787
+ "cam_distance": 2.5195767879486084
788
+ },
789
+ {
790
+ "frame": 41,
791
+ "take": 4,
792
+ "manipulation_level": 2,
793
+ "active_joints": [
794
+ 2,
795
+ 3
796
+ ],
797
+ "joint_positions": [
798
+ 1.0915703773498535,
799
+ -0.0
800
+ ],
801
+ "cam_pose": [
802
+ -2.473494529724121,
803
+ -0.2667948305606842,
804
+ 0.3986389636993408
805
+ ],
806
+ "cam_distance": 2.5195767879486084
807
+ },
808
+ {
809
+ "frame": 42,
810
+ "take": 4,
811
+ "manipulation_level": 2,
812
+ "active_joints": [
813
+ 2,
814
+ 3
815
+ ],
816
+ "joint_positions": [
817
+ 1.1181939840316772,
818
+ -0.0
819
+ ],
820
+ "cam_pose": [
821
+ -2.473494529724121,
822
+ -0.2667948305606842,
823
+ 0.3986389636993408
824
+ ],
825
+ "cam_distance": 2.5195767879486084
826
+ },
827
+ {
828
+ "frame": 43,
829
+ "take": 4,
830
+ "manipulation_level": 2,
831
+ "active_joints": [
832
+ 2,
833
+ 3
834
+ ],
835
+ "joint_positions": [
836
+ 1.1448177099227905,
837
+ -0.0
838
+ ],
839
+ "cam_pose": [
840
+ -2.473494529724121,
841
+ -0.2667948305606842,
842
+ 0.3986389636993408
843
+ ],
844
+ "cam_distance": 2.5195767879486084
845
+ },
846
+ {
847
+ "frame": 44,
848
+ "take": 4,
849
+ "manipulation_level": 2,
850
+ "active_joints": [
851
+ 2,
852
+ 3
853
+ ],
854
+ "joint_positions": [
855
+ 1.1714413166046143,
856
+ -0.0
857
+ ],
858
+ "cam_pose": [
859
+ -2.473494529724121,
860
+ -0.2667948305606842,
861
+ 0.3986389636993408
862
+ ],
863
+ "cam_distance": 2.5195767879486084
864
+ },
865
+ {
866
+ "frame": 45,
867
+ "take": 4,
868
+ "manipulation_level": 2,
869
+ "active_joints": [
870
+ 2,
871
+ 3
872
+ ],
873
+ "joint_positions": [
874
+ 1.1980650424957275,
875
+ -0.0
876
+ ],
877
+ "cam_pose": [
878
+ -2.473494529724121,
879
+ -0.2667948305606842,
880
+ 0.3986389636993408
881
+ ],
882
+ "cam_distance": 2.5195767879486084
883
+ },
884
+ {
885
+ "frame": 46,
886
+ "take": 4,
887
+ "manipulation_level": 2,
888
+ "active_joints": [
889
+ 2,
890
+ 3
891
+ ],
892
+ "joint_positions": [
893
+ 1.2246886491775513,
894
+ -0.0
895
+ ],
896
+ "cam_pose": [
897
+ -2.473494529724121,
898
+ -0.2667948305606842,
899
+ 0.3986389636993408
900
+ ],
901
+ "cam_distance": 2.5195767879486084
902
+ },
903
+ {
904
+ "frame": 47,
905
+ "take": 4,
906
+ "manipulation_level": 2,
907
+ "active_joints": [
908
+ 2,
909
+ 3
910
+ ],
911
+ "joint_positions": [
912
+ 1.2513123750686646,
913
+ -0.0
914
+ ],
915
+ "cam_pose": [
916
+ -2.473494529724121,
917
+ -0.2667948305606842,
918
+ 0.3986389636993408
919
+ ],
920
+ "cam_distance": 2.5195767879486084
921
+ },
922
+ {
923
+ "frame": 48,
924
+ "take": 4,
925
+ "manipulation_level": 2,
926
+ "active_joints": [
927
+ 2,
928
+ 3
929
+ ],
930
+ "joint_positions": [
931
+ 1.2779359817504883,
932
+ -0.0
933
+ ],
934
+ "cam_pose": [
935
+ -2.473494529724121,
936
+ -0.2667948305606842,
937
+ 0.3986389636993408
938
+ ],
939
+ "cam_distance": 2.5195767879486084
940
+ },
941
+ {
942
+ "frame": 49,
943
+ "take": 4,
944
+ "manipulation_level": 2,
945
+ "active_joints": [
946
+ 2,
947
+ 3
948
+ ],
949
+ "joint_positions": [
950
+ 1.3045597076416016,
951
+ -0.0
952
+ ],
953
+ "cam_pose": [
954
+ -2.473494529724121,
955
+ -0.2667948305606842,
956
+ 0.3986389636993408
957
+ ],
958
+ "cam_distance": 2.5195767879486084
959
+ },
960
+ {
961
+ "frame": 50,
962
+ "take": 4,
963
+ "manipulation_level": 2,
964
+ "active_joints": [
965
+ 2,
966
+ 3
967
+ ],
968
+ "joint_positions": [
969
+ 1.3311833143234253,
970
+ -0.0
971
+ ],
972
+ "cam_pose": [
973
+ -2.473494529724121,
974
+ -0.2667948305606842,
975
+ 0.3986389636993408
976
+ ],
977
+ "cam_distance": 2.5195767879486084
978
+ },
979
+ {
980
+ "frame": 51,
981
+ "take": 4,
982
+ "manipulation_level": 2,
983
+ "active_joints": [
984
+ 2,
985
+ 3
986
+ ],
987
+ "joint_positions": [
988
+ 1.3578070402145386,
989
+ -0.0
990
+ ],
991
+ "cam_pose": [
992
+ -2.473494529724121,
993
+ -0.2667948305606842,
994
+ 0.3986389636993408
995
+ ],
996
+ "cam_distance": 2.5195767879486084
997
+ },
998
+ {
999
+ "frame": 52,
1000
+ "take": 4,
1001
+ "manipulation_level": 2,
1002
+ "active_joints": [
1003
+ 2,
1004
+ 3
1005
+ ],
1006
+ "joint_positions": [
1007
+ 1.3844306468963623,
1008
+ -0.0
1009
+ ],
1010
+ "cam_pose": [
1011
+ -2.473494529724121,
1012
+ -0.2667948305606842,
1013
+ 0.3986389636993408
1014
+ ],
1015
+ "cam_distance": 2.5195767879486084
1016
+ },
1017
+ {
1018
+ "frame": 53,
1019
+ "take": 4,
1020
+ "manipulation_level": 2,
1021
+ "active_joints": [
1022
+ 2,
1023
+ 3
1024
+ ],
1025
+ "joint_positions": [
1026
+ 1.4110543727874756,
1027
+ -0.0
1028
+ ],
1029
+ "cam_pose": [
1030
+ -2.473494529724121,
1031
+ -0.2667948305606842,
1032
+ 0.3986389636993408
1033
+ ],
1034
+ "cam_distance": 2.5195767879486084
1035
+ },
1036
+ {
1037
+ "frame": 54,
1038
+ "take": 4,
1039
+ "manipulation_level": 2,
1040
+ "active_joints": [
1041
+ 2,
1042
+ 3
1043
+ ],
1044
+ "joint_positions": [
1045
+ 1.4376779794692993,
1046
+ -0.0
1047
+ ],
1048
+ "cam_pose": [
1049
+ -2.473494529724121,
1050
+ -0.2667948305606842,
1051
+ 0.3986389636993408
1052
+ ],
1053
+ "cam_distance": 2.5195767879486084
1054
+ },
1055
+ {
1056
+ "frame": 55,
1057
+ "take": 4,
1058
+ "manipulation_level": 2,
1059
+ "active_joints": [
1060
+ 2,
1061
+ 3
1062
+ ],
1063
+ "joint_positions": [
1064
+ 1.4643017053604126,
1065
+ -0.0
1066
+ ],
1067
+ "cam_pose": [
1068
+ -2.473494529724121,
1069
+ -0.2667948305606842,
1070
+ 0.3986389636993408
1071
+ ],
1072
+ "cam_distance": 2.5195767879486084
1073
+ },
1074
+ {
1075
+ "frame": 56,
1076
+ "take": 4,
1077
+ "manipulation_level": 2,
1078
+ "active_joints": [
1079
+ 2,
1080
+ 3
1081
+ ],
1082
+ "joint_positions": [
1083
+ 1.4909253120422363,
1084
+ -0.0
1085
+ ],
1086
+ "cam_pose": [
1087
+ -2.473494529724121,
1088
+ -0.2667948305606842,
1089
+ 0.3986389636993408
1090
+ ],
1091
+ "cam_distance": 2.5195767879486084
1092
+ },
1093
+ {
1094
+ "frame": 57,
1095
+ "take": 4,
1096
+ "manipulation_level": 2,
1097
+ "active_joints": [
1098
+ 2,
1099
+ 3
1100
+ ],
1101
+ "joint_positions": [
1102
+ 1.5175490379333496,
1103
+ -0.0
1104
+ ],
1105
+ "cam_pose": [
1106
+ -2.473494529724121,
1107
+ -0.2667948305606842,
1108
+ 0.3986389636993408
1109
+ ],
1110
+ "cam_distance": 2.5195767879486084
1111
+ },
1112
+ {
1113
+ "frame": 58,
1114
+ "take": 4,
1115
+ "manipulation_level": 2,
1116
+ "active_joints": [
1117
+ 2,
1118
+ 3
1119
+ ],
1120
+ "joint_positions": [
1121
+ 1.5441726446151733,
1122
+ -0.0
1123
+ ],
1124
+ "cam_pose": [
1125
+ -2.473494529724121,
1126
+ -0.2667948305606842,
1127
+ 0.3986389636993408
1128
+ ],
1129
+ "cam_distance": 2.5195767879486084
1130
+ },
1131
+ {
1132
+ "frame": 59,
1133
+ "take": 4,
1134
+ "manipulation_level": 2,
1135
+ "active_joints": [
1136
+ 2,
1137
+ 3
1138
+ ],
1139
+ "joint_positions": [
1140
+ 1.5707963705062866,
1141
+ -0.0
1142
+ ],
1143
+ "cam_pose": [
1144
+ -2.473494529724121,
1145
+ -0.2667948305606842,
1146
+ 0.3986389636993408
1147
+ ],
1148
+ "cam_distance": 2.5195767879486084
1149
+ },
1150
+ {
1151
+ "frame": 60,
1152
+ "take": 4,
1153
+ "manipulation_level": 2,
1154
+ "active_joints": [
1155
+ 2,
1156
+ 3
1157
+ ],
1158
+ "joint_positions": [
1159
+ -0.0,
1160
+ 0.0
1161
+ ],
1162
+ "cam_pose": [
1163
+ -2.473494529724121,
1164
+ -0.2667948305606842,
1165
+ 0.3986389636993408
1166
+ ],
1167
+ "cam_distance": 2.5195767879486084
1168
+ },
1169
+ {
1170
+ "frame": 61,
1171
+ "take": 4,
1172
+ "manipulation_level": 2,
1173
+ "active_joints": [
1174
+ 2,
1175
+ 3
1176
+ ],
1177
+ "joint_positions": [
1178
+ -0.0,
1179
+ 0.026623666286468506
1180
+ ],
1181
+ "cam_pose": [
1182
+ -2.473494529724121,
1183
+ -0.2667948305606842,
1184
+ 0.3986389636993408
1185
+ ],
1186
+ "cam_distance": 2.5195767879486084
1187
+ },
1188
+ {
1189
+ "frame": 62,
1190
+ "take": 4,
1191
+ "manipulation_level": 2,
1192
+ "active_joints": [
1193
+ 2,
1194
+ 3
1195
+ ],
1196
+ "joint_positions": [
1197
+ -0.0,
1198
+ 0.05324733257293701
1199
+ ],
1200
+ "cam_pose": [
1201
+ -2.473494529724121,
1202
+ -0.2667948305606842,
1203
+ 0.3986389636993408
1204
+ ],
1205
+ "cam_distance": 2.5195767879486084
1206
+ },
1207
+ {
1208
+ "frame": 63,
1209
+ "take": 4,
1210
+ "manipulation_level": 2,
1211
+ "active_joints": [
1212
+ 2,
1213
+ 3
1214
+ ],
1215
+ "joint_positions": [
1216
+ -0.0,
1217
+ 0.07987099885940552
1218
+ ],
1219
+ "cam_pose": [
1220
+ -2.473494529724121,
1221
+ -0.2667948305606842,
1222
+ 0.3986389636993408
1223
+ ],
1224
+ "cam_distance": 2.5195767879486084
1225
+ },
1226
+ {
1227
+ "frame": 64,
1228
+ "take": 4,
1229
+ "manipulation_level": 2,
1230
+ "active_joints": [
1231
+ 2,
1232
+ 3
1233
+ ],
1234
+ "joint_positions": [
1235
+ -0.0,
1236
+ 0.10649466514587402
1237
+ ],
1238
+ "cam_pose": [
1239
+ -2.473494529724121,
1240
+ -0.2667948305606842,
1241
+ 0.3986389636993408
1242
+ ],
1243
+ "cam_distance": 2.5195767879486084
1244
+ },
1245
+ {
1246
+ "frame": 65,
1247
+ "take": 4,
1248
+ "manipulation_level": 2,
1249
+ "active_joints": [
1250
+ 2,
1251
+ 3
1252
+ ],
1253
+ "joint_positions": [
1254
+ -0.0,
1255
+ 0.13311833143234253
1256
+ ],
1257
+ "cam_pose": [
1258
+ -2.473494529724121,
1259
+ -0.2667948305606842,
1260
+ 0.3986389636993408
1261
+ ],
1262
+ "cam_distance": 2.5195767879486084
1263
+ },
1264
+ {
1265
+ "frame": 66,
1266
+ "take": 4,
1267
+ "manipulation_level": 2,
1268
+ "active_joints": [
1269
+ 2,
1270
+ 3
1271
+ ],
1272
+ "joint_positions": [
1273
+ -0.0,
1274
+ 0.15974199771881104
1275
+ ],
1276
+ "cam_pose": [
1277
+ -2.473494529724121,
1278
+ -0.2667948305606842,
1279
+ 0.3986389636993408
1280
+ ],
1281
+ "cam_distance": 2.5195767879486084
1282
+ },
1283
+ {
1284
+ "frame": 67,
1285
+ "take": 4,
1286
+ "manipulation_level": 2,
1287
+ "active_joints": [
1288
+ 2,
1289
+ 3
1290
+ ],
1291
+ "joint_positions": [
1292
+ -0.0,
1293
+ 0.18636566400527954
1294
+ ],
1295
+ "cam_pose": [
1296
+ -2.473494529724121,
1297
+ -0.2667948305606842,
1298
+ 0.3986389636993408
1299
+ ],
1300
+ "cam_distance": 2.5195767879486084
1301
+ },
1302
+ {
1303
+ "frame": 68,
1304
+ "take": 4,
1305
+ "manipulation_level": 2,
1306
+ "active_joints": [
1307
+ 2,
1308
+ 3
1309
+ ],
1310
+ "joint_positions": [
1311
+ -0.0,
1312
+ 0.21298933029174805
1313
+ ],
1314
+ "cam_pose": [
1315
+ -2.473494529724121,
1316
+ -0.2667948305606842,
1317
+ 0.3986389636993408
1318
+ ],
1319
+ "cam_distance": 2.5195767879486084
1320
+ },
1321
+ {
1322
+ "frame": 69,
1323
+ "take": 4,
1324
+ "manipulation_level": 2,
1325
+ "active_joints": [
1326
+ 2,
1327
+ 3
1328
+ ],
1329
+ "joint_positions": [
1330
+ -0.0,
1331
+ 0.23961299657821655
1332
+ ],
1333
+ "cam_pose": [
1334
+ -2.473494529724121,
1335
+ -0.2667948305606842,
1336
+ 0.3986389636993408
1337
+ ],
1338
+ "cam_distance": 2.5195767879486084
1339
+ },
1340
+ {
1341
+ "frame": 70,
1342
+ "take": 4,
1343
+ "manipulation_level": 2,
1344
+ "active_joints": [
1345
+ 2,
1346
+ 3
1347
+ ],
1348
+ "joint_positions": [
1349
+ -0.0,
1350
+ 0.26623666286468506
1351
+ ],
1352
+ "cam_pose": [
1353
+ -2.473494529724121,
1354
+ -0.2667948305606842,
1355
+ 0.3986389636993408
1356
+ ],
1357
+ "cam_distance": 2.5195767879486084
1358
+ },
1359
+ {
1360
+ "frame": 71,
1361
+ "take": 4,
1362
+ "manipulation_level": 2,
1363
+ "active_joints": [
1364
+ 2,
1365
+ 3
1366
+ ],
1367
+ "joint_positions": [
1368
+ -0.0,
1369
+ 0.29286032915115356
1370
+ ],
1371
+ "cam_pose": [
1372
+ -2.473494529724121,
1373
+ -0.2667948305606842,
1374
+ 0.3986389636993408
1375
+ ],
1376
+ "cam_distance": 2.5195767879486084
1377
+ },
1378
+ {
1379
+ "frame": 72,
1380
+ "take": 4,
1381
+ "manipulation_level": 2,
1382
+ "active_joints": [
1383
+ 2,
1384
+ 3
1385
+ ],
1386
+ "joint_positions": [
1387
+ -0.0,
1388
+ 0.31948399543762207
1389
+ ],
1390
+ "cam_pose": [
1391
+ -2.473494529724121,
1392
+ -0.2667948305606842,
1393
+ 0.3986389636993408
1394
+ ],
1395
+ "cam_distance": 2.5195767879486084
1396
+ },
1397
+ {
1398
+ "frame": 73,
1399
+ "take": 4,
1400
+ "manipulation_level": 2,
1401
+ "active_joints": [
1402
+ 2,
1403
+ 3
1404
+ ],
1405
+ "joint_positions": [
1406
+ -0.0,
1407
+ 0.3461076617240906
1408
+ ],
1409
+ "cam_pose": [
1410
+ -2.473494529724121,
1411
+ -0.2667948305606842,
1412
+ 0.3986389636993408
1413
+ ],
1414
+ "cam_distance": 2.5195767879486084
1415
+ },
1416
+ {
1417
+ "frame": 74,
1418
+ "take": 4,
1419
+ "manipulation_level": 2,
1420
+ "active_joints": [
1421
+ 2,
1422
+ 3
1423
+ ],
1424
+ "joint_positions": [
1425
+ -0.0,
1426
+ 0.3727313280105591
1427
+ ],
1428
+ "cam_pose": [
1429
+ -2.473494529724121,
1430
+ -0.2667948305606842,
1431
+ 0.3986389636993408
1432
+ ],
1433
+ "cam_distance": 2.5195767879486084
1434
+ },
1435
+ {
1436
+ "frame": 75,
1437
+ "take": 4,
1438
+ "manipulation_level": 2,
1439
+ "active_joints": [
1440
+ 2,
1441
+ 3
1442
+ ],
1443
+ "joint_positions": [
1444
+ -0.0,
1445
+ 0.3993549942970276
1446
+ ],
1447
+ "cam_pose": [
1448
+ -2.473494529724121,
1449
+ -0.2667948305606842,
1450
+ 0.3986389636993408
1451
+ ],
1452
+ "cam_distance": 2.5195767879486084
1453
+ },
1454
+ {
1455
+ "frame": 76,
1456
+ "take": 4,
1457
+ "manipulation_level": 2,
1458
+ "active_joints": [
1459
+ 2,
1460
+ 3
1461
+ ],
1462
+ "joint_positions": [
1463
+ -0.0,
1464
+ 0.4259786605834961
1465
+ ],
1466
+ "cam_pose": [
1467
+ -2.473494529724121,
1468
+ -0.2667948305606842,
1469
+ 0.3986389636993408
1470
+ ],
1471
+ "cam_distance": 2.5195767879486084
1472
+ },
1473
+ {
1474
+ "frame": 77,
1475
+ "take": 4,
1476
+ "manipulation_level": 2,
1477
+ "active_joints": [
1478
+ 2,
1479
+ 3
1480
+ ],
1481
+ "joint_positions": [
1482
+ -0.0,
1483
+ 0.4526023268699646
1484
+ ],
1485
+ "cam_pose": [
1486
+ -2.473494529724121,
1487
+ -0.2667948305606842,
1488
+ 0.3986389636993408
1489
+ ],
1490
+ "cam_distance": 2.5195767879486084
1491
+ },
1492
+ {
1493
+ "frame": 78,
1494
+ "take": 4,
1495
+ "manipulation_level": 2,
1496
+ "active_joints": [
1497
+ 2,
1498
+ 3
1499
+ ],
1500
+ "joint_positions": [
1501
+ -0.0,
1502
+ 0.4792259931564331
1503
+ ],
1504
+ "cam_pose": [
1505
+ -2.473494529724121,
1506
+ -0.2667948305606842,
1507
+ 0.3986389636993408
1508
+ ],
1509
+ "cam_distance": 2.5195767879486084
1510
+ },
1511
+ {
1512
+ "frame": 79,
1513
+ "take": 4,
1514
+ "manipulation_level": 2,
1515
+ "active_joints": [
1516
+ 2,
1517
+ 3
1518
+ ],
1519
+ "joint_positions": [
1520
+ -0.0,
1521
+ 0.5058496594429016
1522
+ ],
1523
+ "cam_pose": [
1524
+ -2.473494529724121,
1525
+ -0.2667948305606842,
1526
+ 0.3986389636993408
1527
+ ],
1528
+ "cam_distance": 2.5195767879486084
1529
+ },
1530
+ {
1531
+ "frame": 80,
1532
+ "take": 4,
1533
+ "manipulation_level": 2,
1534
+ "active_joints": [
1535
+ 2,
1536
+ 3
1537
+ ],
1538
+ "joint_positions": [
1539
+ -0.0,
1540
+ 0.5324733257293701
1541
+ ],
1542
+ "cam_pose": [
1543
+ -2.473494529724121,
1544
+ -0.2667948305606842,
1545
+ 0.3986389636993408
1546
+ ],
1547
+ "cam_distance": 2.5195767879486084
1548
+ },
1549
+ {
1550
+ "frame": 81,
1551
+ "take": 4,
1552
+ "manipulation_level": 2,
1553
+ "active_joints": [
1554
+ 2,
1555
+ 3
1556
+ ],
1557
+ "joint_positions": [
1558
+ -0.0,
1559
+ 0.5590969920158386
1560
+ ],
1561
+ "cam_pose": [
1562
+ -2.473494529724121,
1563
+ -0.2667948305606842,
1564
+ 0.3986389636993408
1565
+ ],
1566
+ "cam_distance": 2.5195767879486084
1567
+ },
1568
+ {
1569
+ "frame": 82,
1570
+ "take": 4,
1571
+ "manipulation_level": 2,
1572
+ "active_joints": [
1573
+ 2,
1574
+ 3
1575
+ ],
1576
+ "joint_positions": [
1577
+ -0.0,
1578
+ 0.5857206583023071
1579
+ ],
1580
+ "cam_pose": [
1581
+ -2.473494529724121,
1582
+ -0.2667948305606842,
1583
+ 0.3986389636993408
1584
+ ],
1585
+ "cam_distance": 2.5195767879486084
1586
+ },
1587
+ {
1588
+ "frame": 83,
1589
+ "take": 4,
1590
+ "manipulation_level": 2,
1591
+ "active_joints": [
1592
+ 2,
1593
+ 3
1594
+ ],
1595
+ "joint_positions": [
1596
+ -0.0,
1597
+ 0.6123443245887756
1598
+ ],
1599
+ "cam_pose": [
1600
+ -2.473494529724121,
1601
+ -0.2667948305606842,
1602
+ 0.3986389636993408
1603
+ ],
1604
+ "cam_distance": 2.5195767879486084
1605
+ },
1606
+ {
1607
+ "frame": 84,
1608
+ "take": 4,
1609
+ "manipulation_level": 2,
1610
+ "active_joints": [
1611
+ 2,
1612
+ 3
1613
+ ],
1614
+ "joint_positions": [
1615
+ -0.0,
1616
+ 0.6389679908752441
1617
+ ],
1618
+ "cam_pose": [
1619
+ -2.473494529724121,
1620
+ -0.2667948305606842,
1621
+ 0.3986389636993408
1622
+ ],
1623
+ "cam_distance": 2.5195767879486084
1624
+ },
1625
+ {
1626
+ "frame": 85,
1627
+ "take": 4,
1628
+ "manipulation_level": 2,
1629
+ "active_joints": [
1630
+ 2,
1631
+ 3
1632
+ ],
1633
+ "joint_positions": [
1634
+ -0.0,
1635
+ 0.6655916571617126
1636
+ ],
1637
+ "cam_pose": [
1638
+ -2.473494529724121,
1639
+ -0.2667948305606842,
1640
+ 0.3986389636993408
1641
+ ],
1642
+ "cam_distance": 2.5195767879486084
1643
+ },
1644
+ {
1645
+ "frame": 86,
1646
+ "take": 4,
1647
+ "manipulation_level": 2,
1648
+ "active_joints": [
1649
+ 2,
1650
+ 3
1651
+ ],
1652
+ "joint_positions": [
1653
+ -0.0,
1654
+ 0.6922153234481812
1655
+ ],
1656
+ "cam_pose": [
1657
+ -2.473494529724121,
1658
+ -0.2667948305606842,
1659
+ 0.3986389636993408
1660
+ ],
1661
+ "cam_distance": 2.5195767879486084
1662
+ },
1663
+ {
1664
+ "frame": 87,
1665
+ "take": 4,
1666
+ "manipulation_level": 2,
1667
+ "active_joints": [
1668
+ 2,
1669
+ 3
1670
+ ],
1671
+ "joint_positions": [
1672
+ -0.0,
1673
+ 0.7188389897346497
1674
+ ],
1675
+ "cam_pose": [
1676
+ -2.473494529724121,
1677
+ -0.2667948305606842,
1678
+ 0.3986389636993408
1679
+ ],
1680
+ "cam_distance": 2.5195767879486084
1681
+ },
1682
+ {
1683
+ "frame": 88,
1684
+ "take": 4,
1685
+ "manipulation_level": 2,
1686
+ "active_joints": [
1687
+ 2,
1688
+ 3
1689
+ ],
1690
+ "joint_positions": [
1691
+ -0.0,
1692
+ 0.7454626560211182
1693
+ ],
1694
+ "cam_pose": [
1695
+ -2.473494529724121,
1696
+ -0.2667948305606842,
1697
+ 0.3986389636993408
1698
+ ],
1699
+ "cam_distance": 2.5195767879486084
1700
+ },
1701
+ {
1702
+ "frame": 89,
1703
+ "take": 4,
1704
+ "manipulation_level": 2,
1705
+ "active_joints": [
1706
+ 2,
1707
+ 3
1708
+ ],
1709
+ "joint_positions": [
1710
+ -0.0,
1711
+ 0.7720863223075867
1712
+ ],
1713
+ "cam_pose": [
1714
+ -2.473494529724121,
1715
+ -0.2667948305606842,
1716
+ 0.3986389636993408
1717
+ ],
1718
+ "cam_distance": 2.5195767879486084
1719
+ },
1720
+ {
1721
+ "frame": 90,
1722
+ "take": 4,
1723
+ "manipulation_level": 2,
1724
+ "active_joints": [
1725
+ 2,
1726
+ 3
1727
+ ],
1728
+ "joint_positions": [
1729
+ -0.0,
1730
+ 0.7987099885940552
1731
+ ],
1732
+ "cam_pose": [
1733
+ -2.473494529724121,
1734
+ -0.2667948305606842,
1735
+ 0.3986389636993408
1736
+ ],
1737
+ "cam_distance": 2.5195767879486084
1738
+ },
1739
+ {
1740
+ "frame": 91,
1741
+ "take": 4,
1742
+ "manipulation_level": 2,
1743
+ "active_joints": [
1744
+ 2,
1745
+ 3
1746
+ ],
1747
+ "joint_positions": [
1748
+ -0.0,
1749
+ 0.8253336548805237
1750
+ ],
1751
+ "cam_pose": [
1752
+ -2.473494529724121,
1753
+ -0.2667948305606842,
1754
+ 0.3986389636993408
1755
+ ],
1756
+ "cam_distance": 2.5195767879486084
1757
+ },
1758
+ {
1759
+ "frame": 92,
1760
+ "take": 4,
1761
+ "manipulation_level": 2,
1762
+ "active_joints": [
1763
+ 2,
1764
+ 3
1765
+ ],
1766
+ "joint_positions": [
1767
+ -0.0,
1768
+ 0.8519573211669922
1769
+ ],
1770
+ "cam_pose": [
1771
+ -2.473494529724121,
1772
+ -0.2667948305606842,
1773
+ 0.3986389636993408
1774
+ ],
1775
+ "cam_distance": 2.5195767879486084
1776
+ },
1777
+ {
1778
+ "frame": 93,
1779
+ "take": 4,
1780
+ "manipulation_level": 2,
1781
+ "active_joints": [
1782
+ 2,
1783
+ 3
1784
+ ],
1785
+ "joint_positions": [
1786
+ -0.0,
1787
+ 0.8785809874534607
1788
+ ],
1789
+ "cam_pose": [
1790
+ -2.473494529724121,
1791
+ -0.2667948305606842,
1792
+ 0.3986389636993408
1793
+ ],
1794
+ "cam_distance": 2.5195767879486084
1795
+ },
1796
+ {
1797
+ "frame": 94,
1798
+ "take": 4,
1799
+ "manipulation_level": 2,
1800
+ "active_joints": [
1801
+ 2,
1802
+ 3
1803
+ ],
1804
+ "joint_positions": [
1805
+ -0.0,
1806
+ 0.9052046537399292
1807
+ ],
1808
+ "cam_pose": [
1809
+ -2.473494529724121,
1810
+ -0.2667948305606842,
1811
+ 0.3986389636993408
1812
+ ],
1813
+ "cam_distance": 2.5195767879486084
1814
+ },
1815
+ {
1816
+ "frame": 95,
1817
+ "take": 4,
1818
+ "manipulation_level": 2,
1819
+ "active_joints": [
1820
+ 2,
1821
+ 3
1822
+ ],
1823
+ "joint_positions": [
1824
+ -0.0,
1825
+ 0.9318283200263977
1826
+ ],
1827
+ "cam_pose": [
1828
+ -2.473494529724121,
1829
+ -0.2667948305606842,
1830
+ 0.3986389636993408
1831
+ ],
1832
+ "cam_distance": 2.5195767879486084
1833
+ },
1834
+ {
1835
+ "frame": 96,
1836
+ "take": 4,
1837
+ "manipulation_level": 2,
1838
+ "active_joints": [
1839
+ 2,
1840
+ 3
1841
+ ],
1842
+ "joint_positions": [
1843
+ -0.0,
1844
+ 0.9584519863128662
1845
+ ],
1846
+ "cam_pose": [
1847
+ -2.473494529724121,
1848
+ -0.2667948305606842,
1849
+ 0.3986389636993408
1850
+ ],
1851
+ "cam_distance": 2.5195767879486084
1852
+ },
1853
+ {
1854
+ "frame": 97,
1855
+ "take": 4,
1856
+ "manipulation_level": 2,
1857
+ "active_joints": [
1858
+ 2,
1859
+ 3
1860
+ ],
1861
+ "joint_positions": [
1862
+ -0.0,
1863
+ 0.9850756525993347
1864
+ ],
1865
+ "cam_pose": [
1866
+ -2.473494529724121,
1867
+ -0.2667948305606842,
1868
+ 0.3986389636993408
1869
+ ],
1870
+ "cam_distance": 2.5195767879486084
1871
+ },
1872
+ {
1873
+ "frame": 98,
1874
+ "take": 4,
1875
+ "manipulation_level": 2,
1876
+ "active_joints": [
1877
+ 2,
1878
+ 3
1879
+ ],
1880
+ "joint_positions": [
1881
+ -0.0,
1882
+ 1.0116993188858032
1883
+ ],
1884
+ "cam_pose": [
1885
+ -2.473494529724121,
1886
+ -0.2667948305606842,
1887
+ 0.3986389636993408
1888
+ ],
1889
+ "cam_distance": 2.5195767879486084
1890
+ },
1891
+ {
1892
+ "frame": 99,
1893
+ "take": 4,
1894
+ "manipulation_level": 2,
1895
+ "active_joints": [
1896
+ 2,
1897
+ 3
1898
+ ],
1899
+ "joint_positions": [
1900
+ -0.0,
1901
+ 1.0383230447769165
1902
+ ],
1903
+ "cam_pose": [
1904
+ -2.473494529724121,
1905
+ -0.2667948305606842,
1906
+ 0.3986389636993408
1907
+ ],
1908
+ "cam_distance": 2.5195767879486084
1909
+ },
1910
+ {
1911
+ "frame": 100,
1912
+ "take": 4,
1913
+ "manipulation_level": 2,
1914
+ "active_joints": [
1915
+ 2,
1916
+ 3
1917
+ ],
1918
+ "joint_positions": [
1919
+ -0.0,
1920
+ 1.0649466514587402
1921
+ ],
1922
+ "cam_pose": [
1923
+ -2.473494529724121,
1924
+ -0.2667948305606842,
1925
+ 0.3986389636993408
1926
+ ],
1927
+ "cam_distance": 2.5195767879486084
1928
+ },
1929
+ {
1930
+ "frame": 101,
1931
+ "take": 4,
1932
+ "manipulation_level": 2,
1933
+ "active_joints": [
1934
+ 2,
1935
+ 3
1936
+ ],
1937
+ "joint_positions": [
1938
+ -0.0,
1939
+ 1.0915703773498535
1940
+ ],
1941
+ "cam_pose": [
1942
+ -2.473494529724121,
1943
+ -0.2667948305606842,
1944
+ 0.3986389636993408
1945
+ ],
1946
+ "cam_distance": 2.5195767879486084
1947
+ },
1948
+ {
1949
+ "frame": 102,
1950
+ "take": 4,
1951
+ "manipulation_level": 2,
1952
+ "active_joints": [
1953
+ 2,
1954
+ 3
1955
+ ],
1956
+ "joint_positions": [
1957
+ -0.0,
1958
+ 1.1181939840316772
1959
+ ],
1960
+ "cam_pose": [
1961
+ -2.473494529724121,
1962
+ -0.2667948305606842,
1963
+ 0.3986389636993408
1964
+ ],
1965
+ "cam_distance": 2.5195767879486084
1966
+ },
1967
+ {
1968
+ "frame": 103,
1969
+ "take": 4,
1970
+ "manipulation_level": 2,
1971
+ "active_joints": [
1972
+ 2,
1973
+ 3
1974
+ ],
1975
+ "joint_positions": [
1976
+ -0.0,
1977
+ 1.1448177099227905
1978
+ ],
1979
+ "cam_pose": [
1980
+ -2.473494529724121,
1981
+ -0.2667948305606842,
1982
+ 0.3986389636993408
1983
+ ],
1984
+ "cam_distance": 2.5195767879486084
1985
+ },
1986
+ {
1987
+ "frame": 104,
1988
+ "take": 4,
1989
+ "manipulation_level": 2,
1990
+ "active_joints": [
1991
+ 2,
1992
+ 3
1993
+ ],
1994
+ "joint_positions": [
1995
+ -0.0,
1996
+ 1.1714413166046143
1997
+ ],
1998
+ "cam_pose": [
1999
+ -2.473494529724121,
2000
+ -0.2667948305606842,
2001
+ 0.3986389636993408
2002
+ ],
2003
+ "cam_distance": 2.5195767879486084
2004
+ },
2005
+ {
2006
+ "frame": 105,
2007
+ "take": 4,
2008
+ "manipulation_level": 2,
2009
+ "active_joints": [
2010
+ 2,
2011
+ 3
2012
+ ],
2013
+ "joint_positions": [
2014
+ -0.0,
2015
+ 1.1980650424957275
2016
+ ],
2017
+ "cam_pose": [
2018
+ -2.473494529724121,
2019
+ -0.2667948305606842,
2020
+ 0.3986389636993408
2021
+ ],
2022
+ "cam_distance": 2.5195767879486084
2023
+ },
2024
+ {
2025
+ "frame": 106,
2026
+ "take": 4,
2027
+ "manipulation_level": 2,
2028
+ "active_joints": [
2029
+ 2,
2030
+ 3
2031
+ ],
2032
+ "joint_positions": [
2033
+ -0.0,
2034
+ 1.2246886491775513
2035
+ ],
2036
+ "cam_pose": [
2037
+ -2.473494529724121,
2038
+ -0.2667948305606842,
2039
+ 0.3986389636993408
2040
+ ],
2041
+ "cam_distance": 2.5195767879486084
2042
+ },
2043
+ {
2044
+ "frame": 107,
2045
+ "take": 4,
2046
+ "manipulation_level": 2,
2047
+ "active_joints": [
2048
+ 2,
2049
+ 3
2050
+ ],
2051
+ "joint_positions": [
2052
+ -0.0,
2053
+ 1.2513123750686646
2054
+ ],
2055
+ "cam_pose": [
2056
+ -2.473494529724121,
2057
+ -0.2667948305606842,
2058
+ 0.3986389636993408
2059
+ ],
2060
+ "cam_distance": 2.5195767879486084
2061
+ },
2062
+ {
2063
+ "frame": 108,
2064
+ "take": 4,
2065
+ "manipulation_level": 2,
2066
+ "active_joints": [
2067
+ 2,
2068
+ 3
2069
+ ],
2070
+ "joint_positions": [
2071
+ -0.0,
2072
+ 1.2779359817504883
2073
+ ],
2074
+ "cam_pose": [
2075
+ -2.473494529724121,
2076
+ -0.2667948305606842,
2077
+ 0.3986389636993408
2078
+ ],
2079
+ "cam_distance": 2.5195767879486084
2080
+ },
2081
+ {
2082
+ "frame": 109,
2083
+ "take": 4,
2084
+ "manipulation_level": 2,
2085
+ "active_joints": [
2086
+ 2,
2087
+ 3
2088
+ ],
2089
+ "joint_positions": [
2090
+ -0.0,
2091
+ 1.3045597076416016
2092
+ ],
2093
+ "cam_pose": [
2094
+ -2.473494529724121,
2095
+ -0.2667948305606842,
2096
+ 0.3986389636993408
2097
+ ],
2098
+ "cam_distance": 2.5195767879486084
2099
+ },
2100
+ {
2101
+ "frame": 110,
2102
+ "take": 4,
2103
+ "manipulation_level": 2,
2104
+ "active_joints": [
2105
+ 2,
2106
+ 3
2107
+ ],
2108
+ "joint_positions": [
2109
+ -0.0,
2110
+ 1.3311833143234253
2111
+ ],
2112
+ "cam_pose": [
2113
+ -2.473494529724121,
2114
+ -0.2667948305606842,
2115
+ 0.3986389636993408
2116
+ ],
2117
+ "cam_distance": 2.5195767879486084
2118
+ },
2119
+ {
2120
+ "frame": 111,
2121
+ "take": 4,
2122
+ "manipulation_level": 2,
2123
+ "active_joints": [
2124
+ 2,
2125
+ 3
2126
+ ],
2127
+ "joint_positions": [
2128
+ -0.0,
2129
+ 1.3578070402145386
2130
+ ],
2131
+ "cam_pose": [
2132
+ -2.473494529724121,
2133
+ -0.2667948305606842,
2134
+ 0.3986389636993408
2135
+ ],
2136
+ "cam_distance": 2.5195767879486084
2137
+ },
2138
+ {
2139
+ "frame": 112,
2140
+ "take": 4,
2141
+ "manipulation_level": 2,
2142
+ "active_joints": [
2143
+ 2,
2144
+ 3
2145
+ ],
2146
+ "joint_positions": [
2147
+ -0.0,
2148
+ 1.3844306468963623
2149
+ ],
2150
+ "cam_pose": [
2151
+ -2.473494529724121,
2152
+ -0.2667948305606842,
2153
+ 0.3986389636993408
2154
+ ],
2155
+ "cam_distance": 2.5195767879486084
2156
+ },
2157
+ {
2158
+ "frame": 113,
2159
+ "take": 4,
2160
+ "manipulation_level": 2,
2161
+ "active_joints": [
2162
+ 2,
2163
+ 3
2164
+ ],
2165
+ "joint_positions": [
2166
+ -0.0,
2167
+ 1.4110543727874756
2168
+ ],
2169
+ "cam_pose": [
2170
+ -2.473494529724121,
2171
+ -0.2667948305606842,
2172
+ 0.3986389636993408
2173
+ ],
2174
+ "cam_distance": 2.5195767879486084
2175
+ },
2176
+ {
2177
+ "frame": 114,
2178
+ "take": 4,
2179
+ "manipulation_level": 2,
2180
+ "active_joints": [
2181
+ 2,
2182
+ 3
2183
+ ],
2184
+ "joint_positions": [
2185
+ -0.0,
2186
+ 1.4376779794692993
2187
+ ],
2188
+ "cam_pose": [
2189
+ -2.473494529724121,
2190
+ -0.2667948305606842,
2191
+ 0.3986389636993408
2192
+ ],
2193
+ "cam_distance": 2.5195767879486084
2194
+ },
2195
+ {
2196
+ "frame": 115,
2197
+ "take": 4,
2198
+ "manipulation_level": 2,
2199
+ "active_joints": [
2200
+ 2,
2201
+ 3
2202
+ ],
2203
+ "joint_positions": [
2204
+ -0.0,
2205
+ 1.4643017053604126
2206
+ ],
2207
+ "cam_pose": [
2208
+ -2.473494529724121,
2209
+ -0.2667948305606842,
2210
+ 0.3986389636993408
2211
+ ],
2212
+ "cam_distance": 2.5195767879486084
2213
+ },
2214
+ {
2215
+ "frame": 116,
2216
+ "take": 4,
2217
+ "manipulation_level": 2,
2218
+ "active_joints": [
2219
+ 2,
2220
+ 3
2221
+ ],
2222
+ "joint_positions": [
2223
+ -0.0,
2224
+ 1.4909253120422363
2225
+ ],
2226
+ "cam_pose": [
2227
+ -2.473494529724121,
2228
+ -0.2667948305606842,
2229
+ 0.3986389636993408
2230
+ ],
2231
+ "cam_distance": 2.5195767879486084
2232
+ },
2233
+ {
2234
+ "frame": 117,
2235
+ "take": 4,
2236
+ "manipulation_level": 2,
2237
+ "active_joints": [
2238
+ 2,
2239
+ 3
2240
+ ],
2241
+ "joint_positions": [
2242
+ -0.0,
2243
+ 1.5175490379333496
2244
+ ],
2245
+ "cam_pose": [
2246
+ -2.473494529724121,
2247
+ -0.2667948305606842,
2248
+ 0.3986389636993408
2249
+ ],
2250
+ "cam_distance": 2.5195767879486084
2251
+ },
2252
+ {
2253
+ "frame": 118,
2254
+ "take": 4,
2255
+ "manipulation_level": 2,
2256
+ "active_joints": [
2257
+ 2,
2258
+ 3
2259
+ ],
2260
+ "joint_positions": [
2261
+ -0.0,
2262
+ 1.5441726446151733
2263
+ ],
2264
+ "cam_pose": [
2265
+ -2.473494529724121,
2266
+ -0.2667948305606842,
2267
+ 0.3986389636993408
2268
+ ],
2269
+ "cam_distance": 2.5195767879486084
2270
+ },
2271
+ {
2272
+ "frame": 119,
2273
+ "take": 4,
2274
+ "manipulation_level": 2,
2275
+ "active_joints": [
2276
+ 2,
2277
+ 3
2278
+ ],
2279
+ "joint_positions": [
2280
+ -0.0,
2281
+ 1.5707963705062866
2282
+ ],
2283
+ "cam_pose": [
2284
+ -2.473494529724121,
2285
+ -0.2667948305606842,
2286
+ 0.3986389636993408
2287
+ ],
2288
+ "cam_distance": 2.5195767879486084
2289
+ }
2290
+ ]
2291
+ }
41003/take_05/metadata.json ADDED
@@ -0,0 +1,2291 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object_id": "41003",
3
+ "manipulation_level": 2,
4
+ "active_joints": [
5
+ 0,
6
+ 2
7
+ ],
8
+ "total_joints": 4,
9
+ "frames": [
10
+ {
11
+ "frame": 0,
12
+ "take": 5,
13
+ "manipulation_level": 2,
14
+ "active_joints": [
15
+ 0,
16
+ 2
17
+ ],
18
+ "joint_positions": [
19
+ 0.0,
20
+ -0.0
21
+ ],
22
+ "cam_pose": [
23
+ -2.391578435897827,
24
+ 0.6279175877571106,
25
+ 0.7882933020591736
26
+ ],
27
+ "cam_distance": 2.595252275466919
28
+ },
29
+ {
30
+ "frame": 1,
31
+ "take": 5,
32
+ "manipulation_level": 2,
33
+ "active_joints": [
34
+ 0,
35
+ 2
36
+ ],
37
+ "joint_positions": [
38
+ 0.026623666286468506,
39
+ -0.0
40
+ ],
41
+ "cam_pose": [
42
+ -2.391578435897827,
43
+ 0.6279175877571106,
44
+ 0.7882933020591736
45
+ ],
46
+ "cam_distance": 2.595252275466919
47
+ },
48
+ {
49
+ "frame": 2,
50
+ "take": 5,
51
+ "manipulation_level": 2,
52
+ "active_joints": [
53
+ 0,
54
+ 2
55
+ ],
56
+ "joint_positions": [
57
+ 0.05324733257293701,
58
+ -0.0
59
+ ],
60
+ "cam_pose": [
61
+ -2.391578435897827,
62
+ 0.6279175877571106,
63
+ 0.7882933020591736
64
+ ],
65
+ "cam_distance": 2.595252275466919
66
+ },
67
+ {
68
+ "frame": 3,
69
+ "take": 5,
70
+ "manipulation_level": 2,
71
+ "active_joints": [
72
+ 0,
73
+ 2
74
+ ],
75
+ "joint_positions": [
76
+ 0.07987099885940552,
77
+ -0.0
78
+ ],
79
+ "cam_pose": [
80
+ -2.391578435897827,
81
+ 0.6279175877571106,
82
+ 0.7882933020591736
83
+ ],
84
+ "cam_distance": 2.595252275466919
85
+ },
86
+ {
87
+ "frame": 4,
88
+ "take": 5,
89
+ "manipulation_level": 2,
90
+ "active_joints": [
91
+ 0,
92
+ 2
93
+ ],
94
+ "joint_positions": [
95
+ 0.10649466514587402,
96
+ -0.0
97
+ ],
98
+ "cam_pose": [
99
+ -2.391578435897827,
100
+ 0.6279175877571106,
101
+ 0.7882933020591736
102
+ ],
103
+ "cam_distance": 2.595252275466919
104
+ },
105
+ {
106
+ "frame": 5,
107
+ "take": 5,
108
+ "manipulation_level": 2,
109
+ "active_joints": [
110
+ 0,
111
+ 2
112
+ ],
113
+ "joint_positions": [
114
+ 0.13311833143234253,
115
+ -0.0
116
+ ],
117
+ "cam_pose": [
118
+ -2.391578435897827,
119
+ 0.6279175877571106,
120
+ 0.7882933020591736
121
+ ],
122
+ "cam_distance": 2.595252275466919
123
+ },
124
+ {
125
+ "frame": 6,
126
+ "take": 5,
127
+ "manipulation_level": 2,
128
+ "active_joints": [
129
+ 0,
130
+ 2
131
+ ],
132
+ "joint_positions": [
133
+ 0.15974199771881104,
134
+ -0.0
135
+ ],
136
+ "cam_pose": [
137
+ -2.391578435897827,
138
+ 0.6279175877571106,
139
+ 0.7882933020591736
140
+ ],
141
+ "cam_distance": 2.595252275466919
142
+ },
143
+ {
144
+ "frame": 7,
145
+ "take": 5,
146
+ "manipulation_level": 2,
147
+ "active_joints": [
148
+ 0,
149
+ 2
150
+ ],
151
+ "joint_positions": [
152
+ 0.18636566400527954,
153
+ -0.0
154
+ ],
155
+ "cam_pose": [
156
+ -2.391578435897827,
157
+ 0.6279175877571106,
158
+ 0.7882933020591736
159
+ ],
160
+ "cam_distance": 2.595252275466919
161
+ },
162
+ {
163
+ "frame": 8,
164
+ "take": 5,
165
+ "manipulation_level": 2,
166
+ "active_joints": [
167
+ 0,
168
+ 2
169
+ ],
170
+ "joint_positions": [
171
+ 0.21298933029174805,
172
+ -0.0
173
+ ],
174
+ "cam_pose": [
175
+ -2.391578435897827,
176
+ 0.6279175877571106,
177
+ 0.7882933020591736
178
+ ],
179
+ "cam_distance": 2.595252275466919
180
+ },
181
+ {
182
+ "frame": 9,
183
+ "take": 5,
184
+ "manipulation_level": 2,
185
+ "active_joints": [
186
+ 0,
187
+ 2
188
+ ],
189
+ "joint_positions": [
190
+ 0.23961299657821655,
191
+ -0.0
192
+ ],
193
+ "cam_pose": [
194
+ -2.391578435897827,
195
+ 0.6279175877571106,
196
+ 0.7882933020591736
197
+ ],
198
+ "cam_distance": 2.595252275466919
199
+ },
200
+ {
201
+ "frame": 10,
202
+ "take": 5,
203
+ "manipulation_level": 2,
204
+ "active_joints": [
205
+ 0,
206
+ 2
207
+ ],
208
+ "joint_positions": [
209
+ 0.26623666286468506,
210
+ -0.0
211
+ ],
212
+ "cam_pose": [
213
+ -2.391578435897827,
214
+ 0.6279175877571106,
215
+ 0.7882933020591736
216
+ ],
217
+ "cam_distance": 2.595252275466919
218
+ },
219
+ {
220
+ "frame": 11,
221
+ "take": 5,
222
+ "manipulation_level": 2,
223
+ "active_joints": [
224
+ 0,
225
+ 2
226
+ ],
227
+ "joint_positions": [
228
+ 0.29286032915115356,
229
+ -0.0
230
+ ],
231
+ "cam_pose": [
232
+ -2.391578435897827,
233
+ 0.6279175877571106,
234
+ 0.7882933020591736
235
+ ],
236
+ "cam_distance": 2.595252275466919
237
+ },
238
+ {
239
+ "frame": 12,
240
+ "take": 5,
241
+ "manipulation_level": 2,
242
+ "active_joints": [
243
+ 0,
244
+ 2
245
+ ],
246
+ "joint_positions": [
247
+ 0.31948399543762207,
248
+ -0.0
249
+ ],
250
+ "cam_pose": [
251
+ -2.391578435897827,
252
+ 0.6279175877571106,
253
+ 0.7882933020591736
254
+ ],
255
+ "cam_distance": 2.595252275466919
256
+ },
257
+ {
258
+ "frame": 13,
259
+ "take": 5,
260
+ "manipulation_level": 2,
261
+ "active_joints": [
262
+ 0,
263
+ 2
264
+ ],
265
+ "joint_positions": [
266
+ 0.3461076617240906,
267
+ -0.0
268
+ ],
269
+ "cam_pose": [
270
+ -2.391578435897827,
271
+ 0.6279175877571106,
272
+ 0.7882933020591736
273
+ ],
274
+ "cam_distance": 2.595252275466919
275
+ },
276
+ {
277
+ "frame": 14,
278
+ "take": 5,
279
+ "manipulation_level": 2,
280
+ "active_joints": [
281
+ 0,
282
+ 2
283
+ ],
284
+ "joint_positions": [
285
+ 0.3727313280105591,
286
+ -0.0
287
+ ],
288
+ "cam_pose": [
289
+ -2.391578435897827,
290
+ 0.6279175877571106,
291
+ 0.7882933020591736
292
+ ],
293
+ "cam_distance": 2.595252275466919
294
+ },
295
+ {
296
+ "frame": 15,
297
+ "take": 5,
298
+ "manipulation_level": 2,
299
+ "active_joints": [
300
+ 0,
301
+ 2
302
+ ],
303
+ "joint_positions": [
304
+ 0.3993549942970276,
305
+ -0.0
306
+ ],
307
+ "cam_pose": [
308
+ -2.391578435897827,
309
+ 0.6279175877571106,
310
+ 0.7882933020591736
311
+ ],
312
+ "cam_distance": 2.595252275466919
313
+ },
314
+ {
315
+ "frame": 16,
316
+ "take": 5,
317
+ "manipulation_level": 2,
318
+ "active_joints": [
319
+ 0,
320
+ 2
321
+ ],
322
+ "joint_positions": [
323
+ 0.4259786605834961,
324
+ -0.0
325
+ ],
326
+ "cam_pose": [
327
+ -2.391578435897827,
328
+ 0.6279175877571106,
329
+ 0.7882933020591736
330
+ ],
331
+ "cam_distance": 2.595252275466919
332
+ },
333
+ {
334
+ "frame": 17,
335
+ "take": 5,
336
+ "manipulation_level": 2,
337
+ "active_joints": [
338
+ 0,
339
+ 2
340
+ ],
341
+ "joint_positions": [
342
+ 0.4526023268699646,
343
+ -0.0
344
+ ],
345
+ "cam_pose": [
346
+ -2.391578435897827,
347
+ 0.6279175877571106,
348
+ 0.7882933020591736
349
+ ],
350
+ "cam_distance": 2.595252275466919
351
+ },
352
+ {
353
+ "frame": 18,
354
+ "take": 5,
355
+ "manipulation_level": 2,
356
+ "active_joints": [
357
+ 0,
358
+ 2
359
+ ],
360
+ "joint_positions": [
361
+ 0.4792259931564331,
362
+ -0.0
363
+ ],
364
+ "cam_pose": [
365
+ -2.391578435897827,
366
+ 0.6279175877571106,
367
+ 0.7882933020591736
368
+ ],
369
+ "cam_distance": 2.595252275466919
370
+ },
371
+ {
372
+ "frame": 19,
373
+ "take": 5,
374
+ "manipulation_level": 2,
375
+ "active_joints": [
376
+ 0,
377
+ 2
378
+ ],
379
+ "joint_positions": [
380
+ 0.5058496594429016,
381
+ -0.0
382
+ ],
383
+ "cam_pose": [
384
+ -2.391578435897827,
385
+ 0.6279175877571106,
386
+ 0.7882933020591736
387
+ ],
388
+ "cam_distance": 2.595252275466919
389
+ },
390
+ {
391
+ "frame": 20,
392
+ "take": 5,
393
+ "manipulation_level": 2,
394
+ "active_joints": [
395
+ 0,
396
+ 2
397
+ ],
398
+ "joint_positions": [
399
+ 0.5324733257293701,
400
+ -0.0
401
+ ],
402
+ "cam_pose": [
403
+ -2.391578435897827,
404
+ 0.6279175877571106,
405
+ 0.7882933020591736
406
+ ],
407
+ "cam_distance": 2.595252275466919
408
+ },
409
+ {
410
+ "frame": 21,
411
+ "take": 5,
412
+ "manipulation_level": 2,
413
+ "active_joints": [
414
+ 0,
415
+ 2
416
+ ],
417
+ "joint_positions": [
418
+ 0.5590969920158386,
419
+ -0.0
420
+ ],
421
+ "cam_pose": [
422
+ -2.391578435897827,
423
+ 0.6279175877571106,
424
+ 0.7882933020591736
425
+ ],
426
+ "cam_distance": 2.595252275466919
427
+ },
428
+ {
429
+ "frame": 22,
430
+ "take": 5,
431
+ "manipulation_level": 2,
432
+ "active_joints": [
433
+ 0,
434
+ 2
435
+ ],
436
+ "joint_positions": [
437
+ 0.5857206583023071,
438
+ -0.0
439
+ ],
440
+ "cam_pose": [
441
+ -2.391578435897827,
442
+ 0.6279175877571106,
443
+ 0.7882933020591736
444
+ ],
445
+ "cam_distance": 2.595252275466919
446
+ },
447
+ {
448
+ "frame": 23,
449
+ "take": 5,
450
+ "manipulation_level": 2,
451
+ "active_joints": [
452
+ 0,
453
+ 2
454
+ ],
455
+ "joint_positions": [
456
+ 0.6123443245887756,
457
+ -0.0
458
+ ],
459
+ "cam_pose": [
460
+ -2.391578435897827,
461
+ 0.6279175877571106,
462
+ 0.7882933020591736
463
+ ],
464
+ "cam_distance": 2.595252275466919
465
+ },
466
+ {
467
+ "frame": 24,
468
+ "take": 5,
469
+ "manipulation_level": 2,
470
+ "active_joints": [
471
+ 0,
472
+ 2
473
+ ],
474
+ "joint_positions": [
475
+ 0.6389679908752441,
476
+ -0.0
477
+ ],
478
+ "cam_pose": [
479
+ -2.391578435897827,
480
+ 0.6279175877571106,
481
+ 0.7882933020591736
482
+ ],
483
+ "cam_distance": 2.595252275466919
484
+ },
485
+ {
486
+ "frame": 25,
487
+ "take": 5,
488
+ "manipulation_level": 2,
489
+ "active_joints": [
490
+ 0,
491
+ 2
492
+ ],
493
+ "joint_positions": [
494
+ 0.6655916571617126,
495
+ -0.0
496
+ ],
497
+ "cam_pose": [
498
+ -2.391578435897827,
499
+ 0.6279175877571106,
500
+ 0.7882933020591736
501
+ ],
502
+ "cam_distance": 2.595252275466919
503
+ },
504
+ {
505
+ "frame": 26,
506
+ "take": 5,
507
+ "manipulation_level": 2,
508
+ "active_joints": [
509
+ 0,
510
+ 2
511
+ ],
512
+ "joint_positions": [
513
+ 0.6922153234481812,
514
+ -0.0
515
+ ],
516
+ "cam_pose": [
517
+ -2.391578435897827,
518
+ 0.6279175877571106,
519
+ 0.7882933020591736
520
+ ],
521
+ "cam_distance": 2.595252275466919
522
+ },
523
+ {
524
+ "frame": 27,
525
+ "take": 5,
526
+ "manipulation_level": 2,
527
+ "active_joints": [
528
+ 0,
529
+ 2
530
+ ],
531
+ "joint_positions": [
532
+ 0.7188389897346497,
533
+ -0.0
534
+ ],
535
+ "cam_pose": [
536
+ -2.391578435897827,
537
+ 0.6279175877571106,
538
+ 0.7882933020591736
539
+ ],
540
+ "cam_distance": 2.595252275466919
541
+ },
542
+ {
543
+ "frame": 28,
544
+ "take": 5,
545
+ "manipulation_level": 2,
546
+ "active_joints": [
547
+ 0,
548
+ 2
549
+ ],
550
+ "joint_positions": [
551
+ 0.7454626560211182,
552
+ -0.0
553
+ ],
554
+ "cam_pose": [
555
+ -2.391578435897827,
556
+ 0.6279175877571106,
557
+ 0.7882933020591736
558
+ ],
559
+ "cam_distance": 2.595252275466919
560
+ },
561
+ {
562
+ "frame": 29,
563
+ "take": 5,
564
+ "manipulation_level": 2,
565
+ "active_joints": [
566
+ 0,
567
+ 2
568
+ ],
569
+ "joint_positions": [
570
+ 0.7720863223075867,
571
+ -0.0
572
+ ],
573
+ "cam_pose": [
574
+ -2.391578435897827,
575
+ 0.6279175877571106,
576
+ 0.7882933020591736
577
+ ],
578
+ "cam_distance": 2.595252275466919
579
+ },
580
+ {
581
+ "frame": 30,
582
+ "take": 5,
583
+ "manipulation_level": 2,
584
+ "active_joints": [
585
+ 0,
586
+ 2
587
+ ],
588
+ "joint_positions": [
589
+ 0.7987099885940552,
590
+ -0.0
591
+ ],
592
+ "cam_pose": [
593
+ -2.391578435897827,
594
+ 0.6279175877571106,
595
+ 0.7882933020591736
596
+ ],
597
+ "cam_distance": 2.595252275466919
598
+ },
599
+ {
600
+ "frame": 31,
601
+ "take": 5,
602
+ "manipulation_level": 2,
603
+ "active_joints": [
604
+ 0,
605
+ 2
606
+ ],
607
+ "joint_positions": [
608
+ 0.8253336548805237,
609
+ -0.0
610
+ ],
611
+ "cam_pose": [
612
+ -2.391578435897827,
613
+ 0.6279175877571106,
614
+ 0.7882933020591736
615
+ ],
616
+ "cam_distance": 2.595252275466919
617
+ },
618
+ {
619
+ "frame": 32,
620
+ "take": 5,
621
+ "manipulation_level": 2,
622
+ "active_joints": [
623
+ 0,
624
+ 2
625
+ ],
626
+ "joint_positions": [
627
+ 0.8519573211669922,
628
+ -0.0
629
+ ],
630
+ "cam_pose": [
631
+ -2.391578435897827,
632
+ 0.6279175877571106,
633
+ 0.7882933020591736
634
+ ],
635
+ "cam_distance": 2.595252275466919
636
+ },
637
+ {
638
+ "frame": 33,
639
+ "take": 5,
640
+ "manipulation_level": 2,
641
+ "active_joints": [
642
+ 0,
643
+ 2
644
+ ],
645
+ "joint_positions": [
646
+ 0.8785809874534607,
647
+ -0.0
648
+ ],
649
+ "cam_pose": [
650
+ -2.391578435897827,
651
+ 0.6279175877571106,
652
+ 0.7882933020591736
653
+ ],
654
+ "cam_distance": 2.595252275466919
655
+ },
656
+ {
657
+ "frame": 34,
658
+ "take": 5,
659
+ "manipulation_level": 2,
660
+ "active_joints": [
661
+ 0,
662
+ 2
663
+ ],
664
+ "joint_positions": [
665
+ 0.9052046537399292,
666
+ -0.0
667
+ ],
668
+ "cam_pose": [
669
+ -2.391578435897827,
670
+ 0.6279175877571106,
671
+ 0.7882933020591736
672
+ ],
673
+ "cam_distance": 2.595252275466919
674
+ },
675
+ {
676
+ "frame": 35,
677
+ "take": 5,
678
+ "manipulation_level": 2,
679
+ "active_joints": [
680
+ 0,
681
+ 2
682
+ ],
683
+ "joint_positions": [
684
+ 0.9318283200263977,
685
+ -0.0
686
+ ],
687
+ "cam_pose": [
688
+ -2.391578435897827,
689
+ 0.6279175877571106,
690
+ 0.7882933020591736
691
+ ],
692
+ "cam_distance": 2.595252275466919
693
+ },
694
+ {
695
+ "frame": 36,
696
+ "take": 5,
697
+ "manipulation_level": 2,
698
+ "active_joints": [
699
+ 0,
700
+ 2
701
+ ],
702
+ "joint_positions": [
703
+ 0.9584519863128662,
704
+ -0.0
705
+ ],
706
+ "cam_pose": [
707
+ -2.391578435897827,
708
+ 0.6279175877571106,
709
+ 0.7882933020591736
710
+ ],
711
+ "cam_distance": 2.595252275466919
712
+ },
713
+ {
714
+ "frame": 37,
715
+ "take": 5,
716
+ "manipulation_level": 2,
717
+ "active_joints": [
718
+ 0,
719
+ 2
720
+ ],
721
+ "joint_positions": [
722
+ 0.9850756525993347,
723
+ -0.0
724
+ ],
725
+ "cam_pose": [
726
+ -2.391578435897827,
727
+ 0.6279175877571106,
728
+ 0.7882933020591736
729
+ ],
730
+ "cam_distance": 2.595252275466919
731
+ },
732
+ {
733
+ "frame": 38,
734
+ "take": 5,
735
+ "manipulation_level": 2,
736
+ "active_joints": [
737
+ 0,
738
+ 2
739
+ ],
740
+ "joint_positions": [
741
+ 1.0116993188858032,
742
+ -0.0
743
+ ],
744
+ "cam_pose": [
745
+ -2.391578435897827,
746
+ 0.6279175877571106,
747
+ 0.7882933020591736
748
+ ],
749
+ "cam_distance": 2.595252275466919
750
+ },
751
+ {
752
+ "frame": 39,
753
+ "take": 5,
754
+ "manipulation_level": 2,
755
+ "active_joints": [
756
+ 0,
757
+ 2
758
+ ],
759
+ "joint_positions": [
760
+ 1.0383230447769165,
761
+ -0.0
762
+ ],
763
+ "cam_pose": [
764
+ -2.391578435897827,
765
+ 0.6279175877571106,
766
+ 0.7882933020591736
767
+ ],
768
+ "cam_distance": 2.595252275466919
769
+ },
770
+ {
771
+ "frame": 40,
772
+ "take": 5,
773
+ "manipulation_level": 2,
774
+ "active_joints": [
775
+ 0,
776
+ 2
777
+ ],
778
+ "joint_positions": [
779
+ 1.0649466514587402,
780
+ -0.0
781
+ ],
782
+ "cam_pose": [
783
+ -2.391578435897827,
784
+ 0.6279175877571106,
785
+ 0.7882933020591736
786
+ ],
787
+ "cam_distance": 2.595252275466919
788
+ },
789
+ {
790
+ "frame": 41,
791
+ "take": 5,
792
+ "manipulation_level": 2,
793
+ "active_joints": [
794
+ 0,
795
+ 2
796
+ ],
797
+ "joint_positions": [
798
+ 1.0915703773498535,
799
+ -0.0
800
+ ],
801
+ "cam_pose": [
802
+ -2.391578435897827,
803
+ 0.6279175877571106,
804
+ 0.7882933020591736
805
+ ],
806
+ "cam_distance": 2.595252275466919
807
+ },
808
+ {
809
+ "frame": 42,
810
+ "take": 5,
811
+ "manipulation_level": 2,
812
+ "active_joints": [
813
+ 0,
814
+ 2
815
+ ],
816
+ "joint_positions": [
817
+ 1.1181939840316772,
818
+ -0.0
819
+ ],
820
+ "cam_pose": [
821
+ -2.391578435897827,
822
+ 0.6279175877571106,
823
+ 0.7882933020591736
824
+ ],
825
+ "cam_distance": 2.595252275466919
826
+ },
827
+ {
828
+ "frame": 43,
829
+ "take": 5,
830
+ "manipulation_level": 2,
831
+ "active_joints": [
832
+ 0,
833
+ 2
834
+ ],
835
+ "joint_positions": [
836
+ 1.1448177099227905,
837
+ -0.0
838
+ ],
839
+ "cam_pose": [
840
+ -2.391578435897827,
841
+ 0.6279175877571106,
842
+ 0.7882933020591736
843
+ ],
844
+ "cam_distance": 2.595252275466919
845
+ },
846
+ {
847
+ "frame": 44,
848
+ "take": 5,
849
+ "manipulation_level": 2,
850
+ "active_joints": [
851
+ 0,
852
+ 2
853
+ ],
854
+ "joint_positions": [
855
+ 1.1714413166046143,
856
+ -0.0
857
+ ],
858
+ "cam_pose": [
859
+ -2.391578435897827,
860
+ 0.6279175877571106,
861
+ 0.7882933020591736
862
+ ],
863
+ "cam_distance": 2.595252275466919
864
+ },
865
+ {
866
+ "frame": 45,
867
+ "take": 5,
868
+ "manipulation_level": 2,
869
+ "active_joints": [
870
+ 0,
871
+ 2
872
+ ],
873
+ "joint_positions": [
874
+ 1.1980650424957275,
875
+ -0.0
876
+ ],
877
+ "cam_pose": [
878
+ -2.391578435897827,
879
+ 0.6279175877571106,
880
+ 0.7882933020591736
881
+ ],
882
+ "cam_distance": 2.595252275466919
883
+ },
884
+ {
885
+ "frame": 46,
886
+ "take": 5,
887
+ "manipulation_level": 2,
888
+ "active_joints": [
889
+ 0,
890
+ 2
891
+ ],
892
+ "joint_positions": [
893
+ 1.2246886491775513,
894
+ -0.0
895
+ ],
896
+ "cam_pose": [
897
+ -2.391578435897827,
898
+ 0.6279175877571106,
899
+ 0.7882933020591736
900
+ ],
901
+ "cam_distance": 2.595252275466919
902
+ },
903
+ {
904
+ "frame": 47,
905
+ "take": 5,
906
+ "manipulation_level": 2,
907
+ "active_joints": [
908
+ 0,
909
+ 2
910
+ ],
911
+ "joint_positions": [
912
+ 1.2513123750686646,
913
+ -0.0
914
+ ],
915
+ "cam_pose": [
916
+ -2.391578435897827,
917
+ 0.6279175877571106,
918
+ 0.7882933020591736
919
+ ],
920
+ "cam_distance": 2.595252275466919
921
+ },
922
+ {
923
+ "frame": 48,
924
+ "take": 5,
925
+ "manipulation_level": 2,
926
+ "active_joints": [
927
+ 0,
928
+ 2
929
+ ],
930
+ "joint_positions": [
931
+ 1.2779359817504883,
932
+ -0.0
933
+ ],
934
+ "cam_pose": [
935
+ -2.391578435897827,
936
+ 0.6279175877571106,
937
+ 0.7882933020591736
938
+ ],
939
+ "cam_distance": 2.595252275466919
940
+ },
941
+ {
942
+ "frame": 49,
943
+ "take": 5,
944
+ "manipulation_level": 2,
945
+ "active_joints": [
946
+ 0,
947
+ 2
948
+ ],
949
+ "joint_positions": [
950
+ 1.3045597076416016,
951
+ -0.0
952
+ ],
953
+ "cam_pose": [
954
+ -2.391578435897827,
955
+ 0.6279175877571106,
956
+ 0.7882933020591736
957
+ ],
958
+ "cam_distance": 2.595252275466919
959
+ },
960
+ {
961
+ "frame": 50,
962
+ "take": 5,
963
+ "manipulation_level": 2,
964
+ "active_joints": [
965
+ 0,
966
+ 2
967
+ ],
968
+ "joint_positions": [
969
+ 1.3311833143234253,
970
+ -0.0
971
+ ],
972
+ "cam_pose": [
973
+ -2.391578435897827,
974
+ 0.6279175877571106,
975
+ 0.7882933020591736
976
+ ],
977
+ "cam_distance": 2.595252275466919
978
+ },
979
+ {
980
+ "frame": 51,
981
+ "take": 5,
982
+ "manipulation_level": 2,
983
+ "active_joints": [
984
+ 0,
985
+ 2
986
+ ],
987
+ "joint_positions": [
988
+ 1.3578070402145386,
989
+ -0.0
990
+ ],
991
+ "cam_pose": [
992
+ -2.391578435897827,
993
+ 0.6279175877571106,
994
+ 0.7882933020591736
995
+ ],
996
+ "cam_distance": 2.595252275466919
997
+ },
998
+ {
999
+ "frame": 52,
1000
+ "take": 5,
1001
+ "manipulation_level": 2,
1002
+ "active_joints": [
1003
+ 0,
1004
+ 2
1005
+ ],
1006
+ "joint_positions": [
1007
+ 1.3844306468963623,
1008
+ -0.0
1009
+ ],
1010
+ "cam_pose": [
1011
+ -2.391578435897827,
1012
+ 0.6279175877571106,
1013
+ 0.7882933020591736
1014
+ ],
1015
+ "cam_distance": 2.595252275466919
1016
+ },
1017
+ {
1018
+ "frame": 53,
1019
+ "take": 5,
1020
+ "manipulation_level": 2,
1021
+ "active_joints": [
1022
+ 0,
1023
+ 2
1024
+ ],
1025
+ "joint_positions": [
1026
+ 1.4110543727874756,
1027
+ -0.0
1028
+ ],
1029
+ "cam_pose": [
1030
+ -2.391578435897827,
1031
+ 0.6279175877571106,
1032
+ 0.7882933020591736
1033
+ ],
1034
+ "cam_distance": 2.595252275466919
1035
+ },
1036
+ {
1037
+ "frame": 54,
1038
+ "take": 5,
1039
+ "manipulation_level": 2,
1040
+ "active_joints": [
1041
+ 0,
1042
+ 2
1043
+ ],
1044
+ "joint_positions": [
1045
+ 1.4376779794692993,
1046
+ -0.0
1047
+ ],
1048
+ "cam_pose": [
1049
+ -2.391578435897827,
1050
+ 0.6279175877571106,
1051
+ 0.7882933020591736
1052
+ ],
1053
+ "cam_distance": 2.595252275466919
1054
+ },
1055
+ {
1056
+ "frame": 55,
1057
+ "take": 5,
1058
+ "manipulation_level": 2,
1059
+ "active_joints": [
1060
+ 0,
1061
+ 2
1062
+ ],
1063
+ "joint_positions": [
1064
+ 1.4643017053604126,
1065
+ -0.0
1066
+ ],
1067
+ "cam_pose": [
1068
+ -2.391578435897827,
1069
+ 0.6279175877571106,
1070
+ 0.7882933020591736
1071
+ ],
1072
+ "cam_distance": 2.595252275466919
1073
+ },
1074
+ {
1075
+ "frame": 56,
1076
+ "take": 5,
1077
+ "manipulation_level": 2,
1078
+ "active_joints": [
1079
+ 0,
1080
+ 2
1081
+ ],
1082
+ "joint_positions": [
1083
+ 1.4909253120422363,
1084
+ -0.0
1085
+ ],
1086
+ "cam_pose": [
1087
+ -2.391578435897827,
1088
+ 0.6279175877571106,
1089
+ 0.7882933020591736
1090
+ ],
1091
+ "cam_distance": 2.595252275466919
1092
+ },
1093
+ {
1094
+ "frame": 57,
1095
+ "take": 5,
1096
+ "manipulation_level": 2,
1097
+ "active_joints": [
1098
+ 0,
1099
+ 2
1100
+ ],
1101
+ "joint_positions": [
1102
+ 1.5175490379333496,
1103
+ -0.0
1104
+ ],
1105
+ "cam_pose": [
1106
+ -2.391578435897827,
1107
+ 0.6279175877571106,
1108
+ 0.7882933020591736
1109
+ ],
1110
+ "cam_distance": 2.595252275466919
1111
+ },
1112
+ {
1113
+ "frame": 58,
1114
+ "take": 5,
1115
+ "manipulation_level": 2,
1116
+ "active_joints": [
1117
+ 0,
1118
+ 2
1119
+ ],
1120
+ "joint_positions": [
1121
+ 1.5441726446151733,
1122
+ -0.0
1123
+ ],
1124
+ "cam_pose": [
1125
+ -2.391578435897827,
1126
+ 0.6279175877571106,
1127
+ 0.7882933020591736
1128
+ ],
1129
+ "cam_distance": 2.595252275466919
1130
+ },
1131
+ {
1132
+ "frame": 59,
1133
+ "take": 5,
1134
+ "manipulation_level": 2,
1135
+ "active_joints": [
1136
+ 0,
1137
+ 2
1138
+ ],
1139
+ "joint_positions": [
1140
+ 1.5707963705062866,
1141
+ -0.0
1142
+ ],
1143
+ "cam_pose": [
1144
+ -2.391578435897827,
1145
+ 0.6279175877571106,
1146
+ 0.7882933020591736
1147
+ ],
1148
+ "cam_distance": 2.595252275466919
1149
+ },
1150
+ {
1151
+ "frame": 60,
1152
+ "take": 5,
1153
+ "manipulation_level": 2,
1154
+ "active_joints": [
1155
+ 0,
1156
+ 2
1157
+ ],
1158
+ "joint_positions": [
1159
+ -0.0,
1160
+ 0.0
1161
+ ],
1162
+ "cam_pose": [
1163
+ -2.391578435897827,
1164
+ 0.6279175877571106,
1165
+ 0.7882933020591736
1166
+ ],
1167
+ "cam_distance": 2.595252275466919
1168
+ },
1169
+ {
1170
+ "frame": 61,
1171
+ "take": 5,
1172
+ "manipulation_level": 2,
1173
+ "active_joints": [
1174
+ 0,
1175
+ 2
1176
+ ],
1177
+ "joint_positions": [
1178
+ -0.0,
1179
+ 0.026623666286468506
1180
+ ],
1181
+ "cam_pose": [
1182
+ -2.391578435897827,
1183
+ 0.6279175877571106,
1184
+ 0.7882933020591736
1185
+ ],
1186
+ "cam_distance": 2.595252275466919
1187
+ },
1188
+ {
1189
+ "frame": 62,
1190
+ "take": 5,
1191
+ "manipulation_level": 2,
1192
+ "active_joints": [
1193
+ 0,
1194
+ 2
1195
+ ],
1196
+ "joint_positions": [
1197
+ -0.0,
1198
+ 0.05324733257293701
1199
+ ],
1200
+ "cam_pose": [
1201
+ -2.391578435897827,
1202
+ 0.6279175877571106,
1203
+ 0.7882933020591736
1204
+ ],
1205
+ "cam_distance": 2.595252275466919
1206
+ },
1207
+ {
1208
+ "frame": 63,
1209
+ "take": 5,
1210
+ "manipulation_level": 2,
1211
+ "active_joints": [
1212
+ 0,
1213
+ 2
1214
+ ],
1215
+ "joint_positions": [
1216
+ -0.0,
1217
+ 0.07987099885940552
1218
+ ],
1219
+ "cam_pose": [
1220
+ -2.391578435897827,
1221
+ 0.6279175877571106,
1222
+ 0.7882933020591736
1223
+ ],
1224
+ "cam_distance": 2.595252275466919
1225
+ },
1226
+ {
1227
+ "frame": 64,
1228
+ "take": 5,
1229
+ "manipulation_level": 2,
1230
+ "active_joints": [
1231
+ 0,
1232
+ 2
1233
+ ],
1234
+ "joint_positions": [
1235
+ -0.0,
1236
+ 0.10649466514587402
1237
+ ],
1238
+ "cam_pose": [
1239
+ -2.391578435897827,
1240
+ 0.6279175877571106,
1241
+ 0.7882933020591736
1242
+ ],
1243
+ "cam_distance": 2.595252275466919
1244
+ },
1245
+ {
1246
+ "frame": 65,
1247
+ "take": 5,
1248
+ "manipulation_level": 2,
1249
+ "active_joints": [
1250
+ 0,
1251
+ 2
1252
+ ],
1253
+ "joint_positions": [
1254
+ -0.0,
1255
+ 0.13311833143234253
1256
+ ],
1257
+ "cam_pose": [
1258
+ -2.391578435897827,
1259
+ 0.6279175877571106,
1260
+ 0.7882933020591736
1261
+ ],
1262
+ "cam_distance": 2.595252275466919
1263
+ },
1264
+ {
1265
+ "frame": 66,
1266
+ "take": 5,
1267
+ "manipulation_level": 2,
1268
+ "active_joints": [
1269
+ 0,
1270
+ 2
1271
+ ],
1272
+ "joint_positions": [
1273
+ -0.0,
1274
+ 0.15974199771881104
1275
+ ],
1276
+ "cam_pose": [
1277
+ -2.391578435897827,
1278
+ 0.6279175877571106,
1279
+ 0.7882933020591736
1280
+ ],
1281
+ "cam_distance": 2.595252275466919
1282
+ },
1283
+ {
1284
+ "frame": 67,
1285
+ "take": 5,
1286
+ "manipulation_level": 2,
1287
+ "active_joints": [
1288
+ 0,
1289
+ 2
1290
+ ],
1291
+ "joint_positions": [
1292
+ -0.0,
1293
+ 0.18636566400527954
1294
+ ],
1295
+ "cam_pose": [
1296
+ -2.391578435897827,
1297
+ 0.6279175877571106,
1298
+ 0.7882933020591736
1299
+ ],
1300
+ "cam_distance": 2.595252275466919
1301
+ },
1302
+ {
1303
+ "frame": 68,
1304
+ "take": 5,
1305
+ "manipulation_level": 2,
1306
+ "active_joints": [
1307
+ 0,
1308
+ 2
1309
+ ],
1310
+ "joint_positions": [
1311
+ -0.0,
1312
+ 0.21298933029174805
1313
+ ],
1314
+ "cam_pose": [
1315
+ -2.391578435897827,
1316
+ 0.6279175877571106,
1317
+ 0.7882933020591736
1318
+ ],
1319
+ "cam_distance": 2.595252275466919
1320
+ },
1321
+ {
1322
+ "frame": 69,
1323
+ "take": 5,
1324
+ "manipulation_level": 2,
1325
+ "active_joints": [
1326
+ 0,
1327
+ 2
1328
+ ],
1329
+ "joint_positions": [
1330
+ -0.0,
1331
+ 0.23961299657821655
1332
+ ],
1333
+ "cam_pose": [
1334
+ -2.391578435897827,
1335
+ 0.6279175877571106,
1336
+ 0.7882933020591736
1337
+ ],
1338
+ "cam_distance": 2.595252275466919
1339
+ },
1340
+ {
1341
+ "frame": 70,
1342
+ "take": 5,
1343
+ "manipulation_level": 2,
1344
+ "active_joints": [
1345
+ 0,
1346
+ 2
1347
+ ],
1348
+ "joint_positions": [
1349
+ -0.0,
1350
+ 0.26623666286468506
1351
+ ],
1352
+ "cam_pose": [
1353
+ -2.391578435897827,
1354
+ 0.6279175877571106,
1355
+ 0.7882933020591736
1356
+ ],
1357
+ "cam_distance": 2.595252275466919
1358
+ },
1359
+ {
1360
+ "frame": 71,
1361
+ "take": 5,
1362
+ "manipulation_level": 2,
1363
+ "active_joints": [
1364
+ 0,
1365
+ 2
1366
+ ],
1367
+ "joint_positions": [
1368
+ -0.0,
1369
+ 0.29286032915115356
1370
+ ],
1371
+ "cam_pose": [
1372
+ -2.391578435897827,
1373
+ 0.6279175877571106,
1374
+ 0.7882933020591736
1375
+ ],
1376
+ "cam_distance": 2.595252275466919
1377
+ },
1378
+ {
1379
+ "frame": 72,
1380
+ "take": 5,
1381
+ "manipulation_level": 2,
1382
+ "active_joints": [
1383
+ 0,
1384
+ 2
1385
+ ],
1386
+ "joint_positions": [
1387
+ -0.0,
1388
+ 0.31948399543762207
1389
+ ],
1390
+ "cam_pose": [
1391
+ -2.391578435897827,
1392
+ 0.6279175877571106,
1393
+ 0.7882933020591736
1394
+ ],
1395
+ "cam_distance": 2.595252275466919
1396
+ },
1397
+ {
1398
+ "frame": 73,
1399
+ "take": 5,
1400
+ "manipulation_level": 2,
1401
+ "active_joints": [
1402
+ 0,
1403
+ 2
1404
+ ],
1405
+ "joint_positions": [
1406
+ -0.0,
1407
+ 0.3461076617240906
1408
+ ],
1409
+ "cam_pose": [
1410
+ -2.391578435897827,
1411
+ 0.6279175877571106,
1412
+ 0.7882933020591736
1413
+ ],
1414
+ "cam_distance": 2.595252275466919
1415
+ },
1416
+ {
1417
+ "frame": 74,
1418
+ "take": 5,
1419
+ "manipulation_level": 2,
1420
+ "active_joints": [
1421
+ 0,
1422
+ 2
1423
+ ],
1424
+ "joint_positions": [
1425
+ -0.0,
1426
+ 0.3727313280105591
1427
+ ],
1428
+ "cam_pose": [
1429
+ -2.391578435897827,
1430
+ 0.6279175877571106,
1431
+ 0.7882933020591736
1432
+ ],
1433
+ "cam_distance": 2.595252275466919
1434
+ },
1435
+ {
1436
+ "frame": 75,
1437
+ "take": 5,
1438
+ "manipulation_level": 2,
1439
+ "active_joints": [
1440
+ 0,
1441
+ 2
1442
+ ],
1443
+ "joint_positions": [
1444
+ -0.0,
1445
+ 0.3993549942970276
1446
+ ],
1447
+ "cam_pose": [
1448
+ -2.391578435897827,
1449
+ 0.6279175877571106,
1450
+ 0.7882933020591736
1451
+ ],
1452
+ "cam_distance": 2.595252275466919
1453
+ },
1454
+ {
1455
+ "frame": 76,
1456
+ "take": 5,
1457
+ "manipulation_level": 2,
1458
+ "active_joints": [
1459
+ 0,
1460
+ 2
1461
+ ],
1462
+ "joint_positions": [
1463
+ -0.0,
1464
+ 0.4259786605834961
1465
+ ],
1466
+ "cam_pose": [
1467
+ -2.391578435897827,
1468
+ 0.6279175877571106,
1469
+ 0.7882933020591736
1470
+ ],
1471
+ "cam_distance": 2.595252275466919
1472
+ },
1473
+ {
1474
+ "frame": 77,
1475
+ "take": 5,
1476
+ "manipulation_level": 2,
1477
+ "active_joints": [
1478
+ 0,
1479
+ 2
1480
+ ],
1481
+ "joint_positions": [
1482
+ -0.0,
1483
+ 0.4526023268699646
1484
+ ],
1485
+ "cam_pose": [
1486
+ -2.391578435897827,
1487
+ 0.6279175877571106,
1488
+ 0.7882933020591736
1489
+ ],
1490
+ "cam_distance": 2.595252275466919
1491
+ },
1492
+ {
1493
+ "frame": 78,
1494
+ "take": 5,
1495
+ "manipulation_level": 2,
1496
+ "active_joints": [
1497
+ 0,
1498
+ 2
1499
+ ],
1500
+ "joint_positions": [
1501
+ -0.0,
1502
+ 0.4792259931564331
1503
+ ],
1504
+ "cam_pose": [
1505
+ -2.391578435897827,
1506
+ 0.6279175877571106,
1507
+ 0.7882933020591736
1508
+ ],
1509
+ "cam_distance": 2.595252275466919
1510
+ },
1511
+ {
1512
+ "frame": 79,
1513
+ "take": 5,
1514
+ "manipulation_level": 2,
1515
+ "active_joints": [
1516
+ 0,
1517
+ 2
1518
+ ],
1519
+ "joint_positions": [
1520
+ -0.0,
1521
+ 0.5058496594429016
1522
+ ],
1523
+ "cam_pose": [
1524
+ -2.391578435897827,
1525
+ 0.6279175877571106,
1526
+ 0.7882933020591736
1527
+ ],
1528
+ "cam_distance": 2.595252275466919
1529
+ },
1530
+ {
1531
+ "frame": 80,
1532
+ "take": 5,
1533
+ "manipulation_level": 2,
1534
+ "active_joints": [
1535
+ 0,
1536
+ 2
1537
+ ],
1538
+ "joint_positions": [
1539
+ -0.0,
1540
+ 0.5324733257293701
1541
+ ],
1542
+ "cam_pose": [
1543
+ -2.391578435897827,
1544
+ 0.6279175877571106,
1545
+ 0.7882933020591736
1546
+ ],
1547
+ "cam_distance": 2.595252275466919
1548
+ },
1549
+ {
1550
+ "frame": 81,
1551
+ "take": 5,
1552
+ "manipulation_level": 2,
1553
+ "active_joints": [
1554
+ 0,
1555
+ 2
1556
+ ],
1557
+ "joint_positions": [
1558
+ -0.0,
1559
+ 0.5590969920158386
1560
+ ],
1561
+ "cam_pose": [
1562
+ -2.391578435897827,
1563
+ 0.6279175877571106,
1564
+ 0.7882933020591736
1565
+ ],
1566
+ "cam_distance": 2.595252275466919
1567
+ },
1568
+ {
1569
+ "frame": 82,
1570
+ "take": 5,
1571
+ "manipulation_level": 2,
1572
+ "active_joints": [
1573
+ 0,
1574
+ 2
1575
+ ],
1576
+ "joint_positions": [
1577
+ -0.0,
1578
+ 0.5857206583023071
1579
+ ],
1580
+ "cam_pose": [
1581
+ -2.391578435897827,
1582
+ 0.6279175877571106,
1583
+ 0.7882933020591736
1584
+ ],
1585
+ "cam_distance": 2.595252275466919
1586
+ },
1587
+ {
1588
+ "frame": 83,
1589
+ "take": 5,
1590
+ "manipulation_level": 2,
1591
+ "active_joints": [
1592
+ 0,
1593
+ 2
1594
+ ],
1595
+ "joint_positions": [
1596
+ -0.0,
1597
+ 0.6123443245887756
1598
+ ],
1599
+ "cam_pose": [
1600
+ -2.391578435897827,
1601
+ 0.6279175877571106,
1602
+ 0.7882933020591736
1603
+ ],
1604
+ "cam_distance": 2.595252275466919
1605
+ },
1606
+ {
1607
+ "frame": 84,
1608
+ "take": 5,
1609
+ "manipulation_level": 2,
1610
+ "active_joints": [
1611
+ 0,
1612
+ 2
1613
+ ],
1614
+ "joint_positions": [
1615
+ -0.0,
1616
+ 0.6389679908752441
1617
+ ],
1618
+ "cam_pose": [
1619
+ -2.391578435897827,
1620
+ 0.6279175877571106,
1621
+ 0.7882933020591736
1622
+ ],
1623
+ "cam_distance": 2.595252275466919
1624
+ },
1625
+ {
1626
+ "frame": 85,
1627
+ "take": 5,
1628
+ "manipulation_level": 2,
1629
+ "active_joints": [
1630
+ 0,
1631
+ 2
1632
+ ],
1633
+ "joint_positions": [
1634
+ -0.0,
1635
+ 0.6655916571617126
1636
+ ],
1637
+ "cam_pose": [
1638
+ -2.391578435897827,
1639
+ 0.6279175877571106,
1640
+ 0.7882933020591736
1641
+ ],
1642
+ "cam_distance": 2.595252275466919
1643
+ },
1644
+ {
1645
+ "frame": 86,
1646
+ "take": 5,
1647
+ "manipulation_level": 2,
1648
+ "active_joints": [
1649
+ 0,
1650
+ 2
1651
+ ],
1652
+ "joint_positions": [
1653
+ -0.0,
1654
+ 0.6922153234481812
1655
+ ],
1656
+ "cam_pose": [
1657
+ -2.391578435897827,
1658
+ 0.6279175877571106,
1659
+ 0.7882933020591736
1660
+ ],
1661
+ "cam_distance": 2.595252275466919
1662
+ },
1663
+ {
1664
+ "frame": 87,
1665
+ "take": 5,
1666
+ "manipulation_level": 2,
1667
+ "active_joints": [
1668
+ 0,
1669
+ 2
1670
+ ],
1671
+ "joint_positions": [
1672
+ -0.0,
1673
+ 0.7188389897346497
1674
+ ],
1675
+ "cam_pose": [
1676
+ -2.391578435897827,
1677
+ 0.6279175877571106,
1678
+ 0.7882933020591736
1679
+ ],
1680
+ "cam_distance": 2.595252275466919
1681
+ },
1682
+ {
1683
+ "frame": 88,
1684
+ "take": 5,
1685
+ "manipulation_level": 2,
1686
+ "active_joints": [
1687
+ 0,
1688
+ 2
1689
+ ],
1690
+ "joint_positions": [
1691
+ -0.0,
1692
+ 0.7454626560211182
1693
+ ],
1694
+ "cam_pose": [
1695
+ -2.391578435897827,
1696
+ 0.6279175877571106,
1697
+ 0.7882933020591736
1698
+ ],
1699
+ "cam_distance": 2.595252275466919
1700
+ },
1701
+ {
1702
+ "frame": 89,
1703
+ "take": 5,
1704
+ "manipulation_level": 2,
1705
+ "active_joints": [
1706
+ 0,
1707
+ 2
1708
+ ],
1709
+ "joint_positions": [
1710
+ -0.0,
1711
+ 0.7720863223075867
1712
+ ],
1713
+ "cam_pose": [
1714
+ -2.391578435897827,
1715
+ 0.6279175877571106,
1716
+ 0.7882933020591736
1717
+ ],
1718
+ "cam_distance": 2.595252275466919
1719
+ },
1720
+ {
1721
+ "frame": 90,
1722
+ "take": 5,
1723
+ "manipulation_level": 2,
1724
+ "active_joints": [
1725
+ 0,
1726
+ 2
1727
+ ],
1728
+ "joint_positions": [
1729
+ -0.0,
1730
+ 0.7987099885940552
1731
+ ],
1732
+ "cam_pose": [
1733
+ -2.391578435897827,
1734
+ 0.6279175877571106,
1735
+ 0.7882933020591736
1736
+ ],
1737
+ "cam_distance": 2.595252275466919
1738
+ },
1739
+ {
1740
+ "frame": 91,
1741
+ "take": 5,
1742
+ "manipulation_level": 2,
1743
+ "active_joints": [
1744
+ 0,
1745
+ 2
1746
+ ],
1747
+ "joint_positions": [
1748
+ -0.0,
1749
+ 0.8253336548805237
1750
+ ],
1751
+ "cam_pose": [
1752
+ -2.391578435897827,
1753
+ 0.6279175877571106,
1754
+ 0.7882933020591736
1755
+ ],
1756
+ "cam_distance": 2.595252275466919
1757
+ },
1758
+ {
1759
+ "frame": 92,
1760
+ "take": 5,
1761
+ "manipulation_level": 2,
1762
+ "active_joints": [
1763
+ 0,
1764
+ 2
1765
+ ],
1766
+ "joint_positions": [
1767
+ -0.0,
1768
+ 0.8519573211669922
1769
+ ],
1770
+ "cam_pose": [
1771
+ -2.391578435897827,
1772
+ 0.6279175877571106,
1773
+ 0.7882933020591736
1774
+ ],
1775
+ "cam_distance": 2.595252275466919
1776
+ },
1777
+ {
1778
+ "frame": 93,
1779
+ "take": 5,
1780
+ "manipulation_level": 2,
1781
+ "active_joints": [
1782
+ 0,
1783
+ 2
1784
+ ],
1785
+ "joint_positions": [
1786
+ -0.0,
1787
+ 0.8785809874534607
1788
+ ],
1789
+ "cam_pose": [
1790
+ -2.391578435897827,
1791
+ 0.6279175877571106,
1792
+ 0.7882933020591736
1793
+ ],
1794
+ "cam_distance": 2.595252275466919
1795
+ },
1796
+ {
1797
+ "frame": 94,
1798
+ "take": 5,
1799
+ "manipulation_level": 2,
1800
+ "active_joints": [
1801
+ 0,
1802
+ 2
1803
+ ],
1804
+ "joint_positions": [
1805
+ -0.0,
1806
+ 0.9052046537399292
1807
+ ],
1808
+ "cam_pose": [
1809
+ -2.391578435897827,
1810
+ 0.6279175877571106,
1811
+ 0.7882933020591736
1812
+ ],
1813
+ "cam_distance": 2.595252275466919
1814
+ },
1815
+ {
1816
+ "frame": 95,
1817
+ "take": 5,
1818
+ "manipulation_level": 2,
1819
+ "active_joints": [
1820
+ 0,
1821
+ 2
1822
+ ],
1823
+ "joint_positions": [
1824
+ -0.0,
1825
+ 0.9318283200263977
1826
+ ],
1827
+ "cam_pose": [
1828
+ -2.391578435897827,
1829
+ 0.6279175877571106,
1830
+ 0.7882933020591736
1831
+ ],
1832
+ "cam_distance": 2.595252275466919
1833
+ },
1834
+ {
1835
+ "frame": 96,
1836
+ "take": 5,
1837
+ "manipulation_level": 2,
1838
+ "active_joints": [
1839
+ 0,
1840
+ 2
1841
+ ],
1842
+ "joint_positions": [
1843
+ -0.0,
1844
+ 0.9584519863128662
1845
+ ],
1846
+ "cam_pose": [
1847
+ -2.391578435897827,
1848
+ 0.6279175877571106,
1849
+ 0.7882933020591736
1850
+ ],
1851
+ "cam_distance": 2.595252275466919
1852
+ },
1853
+ {
1854
+ "frame": 97,
1855
+ "take": 5,
1856
+ "manipulation_level": 2,
1857
+ "active_joints": [
1858
+ 0,
1859
+ 2
1860
+ ],
1861
+ "joint_positions": [
1862
+ -0.0,
1863
+ 0.9850756525993347
1864
+ ],
1865
+ "cam_pose": [
1866
+ -2.391578435897827,
1867
+ 0.6279175877571106,
1868
+ 0.7882933020591736
1869
+ ],
1870
+ "cam_distance": 2.595252275466919
1871
+ },
1872
+ {
1873
+ "frame": 98,
1874
+ "take": 5,
1875
+ "manipulation_level": 2,
1876
+ "active_joints": [
1877
+ 0,
1878
+ 2
1879
+ ],
1880
+ "joint_positions": [
1881
+ -0.0,
1882
+ 1.0116993188858032
1883
+ ],
1884
+ "cam_pose": [
1885
+ -2.391578435897827,
1886
+ 0.6279175877571106,
1887
+ 0.7882933020591736
1888
+ ],
1889
+ "cam_distance": 2.595252275466919
1890
+ },
1891
+ {
1892
+ "frame": 99,
1893
+ "take": 5,
1894
+ "manipulation_level": 2,
1895
+ "active_joints": [
1896
+ 0,
1897
+ 2
1898
+ ],
1899
+ "joint_positions": [
1900
+ -0.0,
1901
+ 1.0383230447769165
1902
+ ],
1903
+ "cam_pose": [
1904
+ -2.391578435897827,
1905
+ 0.6279175877571106,
1906
+ 0.7882933020591736
1907
+ ],
1908
+ "cam_distance": 2.595252275466919
1909
+ },
1910
+ {
1911
+ "frame": 100,
1912
+ "take": 5,
1913
+ "manipulation_level": 2,
1914
+ "active_joints": [
1915
+ 0,
1916
+ 2
1917
+ ],
1918
+ "joint_positions": [
1919
+ -0.0,
1920
+ 1.0649466514587402
1921
+ ],
1922
+ "cam_pose": [
1923
+ -2.391578435897827,
1924
+ 0.6279175877571106,
1925
+ 0.7882933020591736
1926
+ ],
1927
+ "cam_distance": 2.595252275466919
1928
+ },
1929
+ {
1930
+ "frame": 101,
1931
+ "take": 5,
1932
+ "manipulation_level": 2,
1933
+ "active_joints": [
1934
+ 0,
1935
+ 2
1936
+ ],
1937
+ "joint_positions": [
1938
+ -0.0,
1939
+ 1.0915703773498535
1940
+ ],
1941
+ "cam_pose": [
1942
+ -2.391578435897827,
1943
+ 0.6279175877571106,
1944
+ 0.7882933020591736
1945
+ ],
1946
+ "cam_distance": 2.595252275466919
1947
+ },
1948
+ {
1949
+ "frame": 102,
1950
+ "take": 5,
1951
+ "manipulation_level": 2,
1952
+ "active_joints": [
1953
+ 0,
1954
+ 2
1955
+ ],
1956
+ "joint_positions": [
1957
+ -0.0,
1958
+ 1.1181939840316772
1959
+ ],
1960
+ "cam_pose": [
1961
+ -2.391578435897827,
1962
+ 0.6279175877571106,
1963
+ 0.7882933020591736
1964
+ ],
1965
+ "cam_distance": 2.595252275466919
1966
+ },
1967
+ {
1968
+ "frame": 103,
1969
+ "take": 5,
1970
+ "manipulation_level": 2,
1971
+ "active_joints": [
1972
+ 0,
1973
+ 2
1974
+ ],
1975
+ "joint_positions": [
1976
+ -0.0,
1977
+ 1.1448177099227905
1978
+ ],
1979
+ "cam_pose": [
1980
+ -2.391578435897827,
1981
+ 0.6279175877571106,
1982
+ 0.7882933020591736
1983
+ ],
1984
+ "cam_distance": 2.595252275466919
1985
+ },
1986
+ {
1987
+ "frame": 104,
1988
+ "take": 5,
1989
+ "manipulation_level": 2,
1990
+ "active_joints": [
1991
+ 0,
1992
+ 2
1993
+ ],
1994
+ "joint_positions": [
1995
+ -0.0,
1996
+ 1.1714413166046143
1997
+ ],
1998
+ "cam_pose": [
1999
+ -2.391578435897827,
2000
+ 0.6279175877571106,
2001
+ 0.7882933020591736
2002
+ ],
2003
+ "cam_distance": 2.595252275466919
2004
+ },
2005
+ {
2006
+ "frame": 105,
2007
+ "take": 5,
2008
+ "manipulation_level": 2,
2009
+ "active_joints": [
2010
+ 0,
2011
+ 2
2012
+ ],
2013
+ "joint_positions": [
2014
+ -0.0,
2015
+ 1.1980650424957275
2016
+ ],
2017
+ "cam_pose": [
2018
+ -2.391578435897827,
2019
+ 0.6279175877571106,
2020
+ 0.7882933020591736
2021
+ ],
2022
+ "cam_distance": 2.595252275466919
2023
+ },
2024
+ {
2025
+ "frame": 106,
2026
+ "take": 5,
2027
+ "manipulation_level": 2,
2028
+ "active_joints": [
2029
+ 0,
2030
+ 2
2031
+ ],
2032
+ "joint_positions": [
2033
+ -0.0,
2034
+ 1.2246886491775513
2035
+ ],
2036
+ "cam_pose": [
2037
+ -2.391578435897827,
2038
+ 0.6279175877571106,
2039
+ 0.7882933020591736
2040
+ ],
2041
+ "cam_distance": 2.595252275466919
2042
+ },
2043
+ {
2044
+ "frame": 107,
2045
+ "take": 5,
2046
+ "manipulation_level": 2,
2047
+ "active_joints": [
2048
+ 0,
2049
+ 2
2050
+ ],
2051
+ "joint_positions": [
2052
+ -0.0,
2053
+ 1.2513123750686646
2054
+ ],
2055
+ "cam_pose": [
2056
+ -2.391578435897827,
2057
+ 0.6279175877571106,
2058
+ 0.7882933020591736
2059
+ ],
2060
+ "cam_distance": 2.595252275466919
2061
+ },
2062
+ {
2063
+ "frame": 108,
2064
+ "take": 5,
2065
+ "manipulation_level": 2,
2066
+ "active_joints": [
2067
+ 0,
2068
+ 2
2069
+ ],
2070
+ "joint_positions": [
2071
+ -0.0,
2072
+ 1.2779359817504883
2073
+ ],
2074
+ "cam_pose": [
2075
+ -2.391578435897827,
2076
+ 0.6279175877571106,
2077
+ 0.7882933020591736
2078
+ ],
2079
+ "cam_distance": 2.595252275466919
2080
+ },
2081
+ {
2082
+ "frame": 109,
2083
+ "take": 5,
2084
+ "manipulation_level": 2,
2085
+ "active_joints": [
2086
+ 0,
2087
+ 2
2088
+ ],
2089
+ "joint_positions": [
2090
+ -0.0,
2091
+ 1.3045597076416016
2092
+ ],
2093
+ "cam_pose": [
2094
+ -2.391578435897827,
2095
+ 0.6279175877571106,
2096
+ 0.7882933020591736
2097
+ ],
2098
+ "cam_distance": 2.595252275466919
2099
+ },
2100
+ {
2101
+ "frame": 110,
2102
+ "take": 5,
2103
+ "manipulation_level": 2,
2104
+ "active_joints": [
2105
+ 0,
2106
+ 2
2107
+ ],
2108
+ "joint_positions": [
2109
+ -0.0,
2110
+ 1.3311833143234253
2111
+ ],
2112
+ "cam_pose": [
2113
+ -2.391578435897827,
2114
+ 0.6279175877571106,
2115
+ 0.7882933020591736
2116
+ ],
2117
+ "cam_distance": 2.595252275466919
2118
+ },
2119
+ {
2120
+ "frame": 111,
2121
+ "take": 5,
2122
+ "manipulation_level": 2,
2123
+ "active_joints": [
2124
+ 0,
2125
+ 2
2126
+ ],
2127
+ "joint_positions": [
2128
+ -0.0,
2129
+ 1.3578070402145386
2130
+ ],
2131
+ "cam_pose": [
2132
+ -2.391578435897827,
2133
+ 0.6279175877571106,
2134
+ 0.7882933020591736
2135
+ ],
2136
+ "cam_distance": 2.595252275466919
2137
+ },
2138
+ {
2139
+ "frame": 112,
2140
+ "take": 5,
2141
+ "manipulation_level": 2,
2142
+ "active_joints": [
2143
+ 0,
2144
+ 2
2145
+ ],
2146
+ "joint_positions": [
2147
+ -0.0,
2148
+ 1.3844306468963623
2149
+ ],
2150
+ "cam_pose": [
2151
+ -2.391578435897827,
2152
+ 0.6279175877571106,
2153
+ 0.7882933020591736
2154
+ ],
2155
+ "cam_distance": 2.595252275466919
2156
+ },
2157
+ {
2158
+ "frame": 113,
2159
+ "take": 5,
2160
+ "manipulation_level": 2,
2161
+ "active_joints": [
2162
+ 0,
2163
+ 2
2164
+ ],
2165
+ "joint_positions": [
2166
+ -0.0,
2167
+ 1.4110543727874756
2168
+ ],
2169
+ "cam_pose": [
2170
+ -2.391578435897827,
2171
+ 0.6279175877571106,
2172
+ 0.7882933020591736
2173
+ ],
2174
+ "cam_distance": 2.595252275466919
2175
+ },
2176
+ {
2177
+ "frame": 114,
2178
+ "take": 5,
2179
+ "manipulation_level": 2,
2180
+ "active_joints": [
2181
+ 0,
2182
+ 2
2183
+ ],
2184
+ "joint_positions": [
2185
+ -0.0,
2186
+ 1.4376779794692993
2187
+ ],
2188
+ "cam_pose": [
2189
+ -2.391578435897827,
2190
+ 0.6279175877571106,
2191
+ 0.7882933020591736
2192
+ ],
2193
+ "cam_distance": 2.595252275466919
2194
+ },
2195
+ {
2196
+ "frame": 115,
2197
+ "take": 5,
2198
+ "manipulation_level": 2,
2199
+ "active_joints": [
2200
+ 0,
2201
+ 2
2202
+ ],
2203
+ "joint_positions": [
2204
+ -0.0,
2205
+ 1.4643017053604126
2206
+ ],
2207
+ "cam_pose": [
2208
+ -2.391578435897827,
2209
+ 0.6279175877571106,
2210
+ 0.7882933020591736
2211
+ ],
2212
+ "cam_distance": 2.595252275466919
2213
+ },
2214
+ {
2215
+ "frame": 116,
2216
+ "take": 5,
2217
+ "manipulation_level": 2,
2218
+ "active_joints": [
2219
+ 0,
2220
+ 2
2221
+ ],
2222
+ "joint_positions": [
2223
+ -0.0,
2224
+ 1.4909253120422363
2225
+ ],
2226
+ "cam_pose": [
2227
+ -2.391578435897827,
2228
+ 0.6279175877571106,
2229
+ 0.7882933020591736
2230
+ ],
2231
+ "cam_distance": 2.595252275466919
2232
+ },
2233
+ {
2234
+ "frame": 117,
2235
+ "take": 5,
2236
+ "manipulation_level": 2,
2237
+ "active_joints": [
2238
+ 0,
2239
+ 2
2240
+ ],
2241
+ "joint_positions": [
2242
+ -0.0,
2243
+ 1.5175490379333496
2244
+ ],
2245
+ "cam_pose": [
2246
+ -2.391578435897827,
2247
+ 0.6279175877571106,
2248
+ 0.7882933020591736
2249
+ ],
2250
+ "cam_distance": 2.595252275466919
2251
+ },
2252
+ {
2253
+ "frame": 118,
2254
+ "take": 5,
2255
+ "manipulation_level": 2,
2256
+ "active_joints": [
2257
+ 0,
2258
+ 2
2259
+ ],
2260
+ "joint_positions": [
2261
+ -0.0,
2262
+ 1.5441726446151733
2263
+ ],
2264
+ "cam_pose": [
2265
+ -2.391578435897827,
2266
+ 0.6279175877571106,
2267
+ 0.7882933020591736
2268
+ ],
2269
+ "cam_distance": 2.595252275466919
2270
+ },
2271
+ {
2272
+ "frame": 119,
2273
+ "take": 5,
2274
+ "manipulation_level": 2,
2275
+ "active_joints": [
2276
+ 0,
2277
+ 2
2278
+ ],
2279
+ "joint_positions": [
2280
+ -0.0,
2281
+ 1.5707963705062866
2282
+ ],
2283
+ "cam_pose": [
2284
+ -2.391578435897827,
2285
+ 0.6279175877571106,
2286
+ 0.7882933020591736
2287
+ ],
2288
+ "cam_distance": 2.595252275466919
2289
+ }
2290
+ ]
2291
+ }
41003/take_06/metadata.json ADDED
@@ -0,0 +1,2291 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object_id": "41003",
3
+ "manipulation_level": 2,
4
+ "active_joints": [
5
+ 0,
6
+ 3
7
+ ],
8
+ "total_joints": 4,
9
+ "frames": [
10
+ {
11
+ "frame": 0,
12
+ "take": 6,
13
+ "manipulation_level": 2,
14
+ "active_joints": [
15
+ 0,
16
+ 3
17
+ ],
18
+ "joint_positions": [
19
+ 0.0,
20
+ -0.0
21
+ ],
22
+ "cam_pose": [
23
+ -2.7887611389160156,
24
+ -0.03102286532521248,
25
+ 1.0010515451431274
26
+ ],
27
+ "cam_distance": 2.9631495475769043
28
+ },
29
+ {
30
+ "frame": 1,
31
+ "take": 6,
32
+ "manipulation_level": 2,
33
+ "active_joints": [
34
+ 0,
35
+ 3
36
+ ],
37
+ "joint_positions": [
38
+ 0.026623666286468506,
39
+ -0.0
40
+ ],
41
+ "cam_pose": [
42
+ -2.7887611389160156,
43
+ -0.03102286532521248,
44
+ 1.0010515451431274
45
+ ],
46
+ "cam_distance": 2.9631495475769043
47
+ },
48
+ {
49
+ "frame": 2,
50
+ "take": 6,
51
+ "manipulation_level": 2,
52
+ "active_joints": [
53
+ 0,
54
+ 3
55
+ ],
56
+ "joint_positions": [
57
+ 0.05324733257293701,
58
+ -0.0
59
+ ],
60
+ "cam_pose": [
61
+ -2.7887611389160156,
62
+ -0.03102286532521248,
63
+ 1.0010515451431274
64
+ ],
65
+ "cam_distance": 2.9631495475769043
66
+ },
67
+ {
68
+ "frame": 3,
69
+ "take": 6,
70
+ "manipulation_level": 2,
71
+ "active_joints": [
72
+ 0,
73
+ 3
74
+ ],
75
+ "joint_positions": [
76
+ 0.07987099885940552,
77
+ -0.0
78
+ ],
79
+ "cam_pose": [
80
+ -2.7887611389160156,
81
+ -0.03102286532521248,
82
+ 1.0010515451431274
83
+ ],
84
+ "cam_distance": 2.9631495475769043
85
+ },
86
+ {
87
+ "frame": 4,
88
+ "take": 6,
89
+ "manipulation_level": 2,
90
+ "active_joints": [
91
+ 0,
92
+ 3
93
+ ],
94
+ "joint_positions": [
95
+ 0.10649466514587402,
96
+ -0.0
97
+ ],
98
+ "cam_pose": [
99
+ -2.7887611389160156,
100
+ -0.03102286532521248,
101
+ 1.0010515451431274
102
+ ],
103
+ "cam_distance": 2.9631495475769043
104
+ },
105
+ {
106
+ "frame": 5,
107
+ "take": 6,
108
+ "manipulation_level": 2,
109
+ "active_joints": [
110
+ 0,
111
+ 3
112
+ ],
113
+ "joint_positions": [
114
+ 0.13311833143234253,
115
+ -0.0
116
+ ],
117
+ "cam_pose": [
118
+ -2.7887611389160156,
119
+ -0.03102286532521248,
120
+ 1.0010515451431274
121
+ ],
122
+ "cam_distance": 2.9631495475769043
123
+ },
124
+ {
125
+ "frame": 6,
126
+ "take": 6,
127
+ "manipulation_level": 2,
128
+ "active_joints": [
129
+ 0,
130
+ 3
131
+ ],
132
+ "joint_positions": [
133
+ 0.15974199771881104,
134
+ -0.0
135
+ ],
136
+ "cam_pose": [
137
+ -2.7887611389160156,
138
+ -0.03102286532521248,
139
+ 1.0010515451431274
140
+ ],
141
+ "cam_distance": 2.9631495475769043
142
+ },
143
+ {
144
+ "frame": 7,
145
+ "take": 6,
146
+ "manipulation_level": 2,
147
+ "active_joints": [
148
+ 0,
149
+ 3
150
+ ],
151
+ "joint_positions": [
152
+ 0.18636566400527954,
153
+ -0.0
154
+ ],
155
+ "cam_pose": [
156
+ -2.7887611389160156,
157
+ -0.03102286532521248,
158
+ 1.0010515451431274
159
+ ],
160
+ "cam_distance": 2.9631495475769043
161
+ },
162
+ {
163
+ "frame": 8,
164
+ "take": 6,
165
+ "manipulation_level": 2,
166
+ "active_joints": [
167
+ 0,
168
+ 3
169
+ ],
170
+ "joint_positions": [
171
+ 0.21298933029174805,
172
+ -0.0
173
+ ],
174
+ "cam_pose": [
175
+ -2.7887611389160156,
176
+ -0.03102286532521248,
177
+ 1.0010515451431274
178
+ ],
179
+ "cam_distance": 2.9631495475769043
180
+ },
181
+ {
182
+ "frame": 9,
183
+ "take": 6,
184
+ "manipulation_level": 2,
185
+ "active_joints": [
186
+ 0,
187
+ 3
188
+ ],
189
+ "joint_positions": [
190
+ 0.23961299657821655,
191
+ -0.0
192
+ ],
193
+ "cam_pose": [
194
+ -2.7887611389160156,
195
+ -0.03102286532521248,
196
+ 1.0010515451431274
197
+ ],
198
+ "cam_distance": 2.9631495475769043
199
+ },
200
+ {
201
+ "frame": 10,
202
+ "take": 6,
203
+ "manipulation_level": 2,
204
+ "active_joints": [
205
+ 0,
206
+ 3
207
+ ],
208
+ "joint_positions": [
209
+ 0.26623666286468506,
210
+ -0.0
211
+ ],
212
+ "cam_pose": [
213
+ -2.7887611389160156,
214
+ -0.03102286532521248,
215
+ 1.0010515451431274
216
+ ],
217
+ "cam_distance": 2.9631495475769043
218
+ },
219
+ {
220
+ "frame": 11,
221
+ "take": 6,
222
+ "manipulation_level": 2,
223
+ "active_joints": [
224
+ 0,
225
+ 3
226
+ ],
227
+ "joint_positions": [
228
+ 0.29286032915115356,
229
+ -0.0
230
+ ],
231
+ "cam_pose": [
232
+ -2.7887611389160156,
233
+ -0.03102286532521248,
234
+ 1.0010515451431274
235
+ ],
236
+ "cam_distance": 2.9631495475769043
237
+ },
238
+ {
239
+ "frame": 12,
240
+ "take": 6,
241
+ "manipulation_level": 2,
242
+ "active_joints": [
243
+ 0,
244
+ 3
245
+ ],
246
+ "joint_positions": [
247
+ 0.31948399543762207,
248
+ -0.0
249
+ ],
250
+ "cam_pose": [
251
+ -2.7887611389160156,
252
+ -0.03102286532521248,
253
+ 1.0010515451431274
254
+ ],
255
+ "cam_distance": 2.9631495475769043
256
+ },
257
+ {
258
+ "frame": 13,
259
+ "take": 6,
260
+ "manipulation_level": 2,
261
+ "active_joints": [
262
+ 0,
263
+ 3
264
+ ],
265
+ "joint_positions": [
266
+ 0.3461076617240906,
267
+ -0.0
268
+ ],
269
+ "cam_pose": [
270
+ -2.7887611389160156,
271
+ -0.03102286532521248,
272
+ 1.0010515451431274
273
+ ],
274
+ "cam_distance": 2.9631495475769043
275
+ },
276
+ {
277
+ "frame": 14,
278
+ "take": 6,
279
+ "manipulation_level": 2,
280
+ "active_joints": [
281
+ 0,
282
+ 3
283
+ ],
284
+ "joint_positions": [
285
+ 0.3727313280105591,
286
+ -0.0
287
+ ],
288
+ "cam_pose": [
289
+ -2.7887611389160156,
290
+ -0.03102286532521248,
291
+ 1.0010515451431274
292
+ ],
293
+ "cam_distance": 2.9631495475769043
294
+ },
295
+ {
296
+ "frame": 15,
297
+ "take": 6,
298
+ "manipulation_level": 2,
299
+ "active_joints": [
300
+ 0,
301
+ 3
302
+ ],
303
+ "joint_positions": [
304
+ 0.3993549942970276,
305
+ -0.0
306
+ ],
307
+ "cam_pose": [
308
+ -2.7887611389160156,
309
+ -0.03102286532521248,
310
+ 1.0010515451431274
311
+ ],
312
+ "cam_distance": 2.9631495475769043
313
+ },
314
+ {
315
+ "frame": 16,
316
+ "take": 6,
317
+ "manipulation_level": 2,
318
+ "active_joints": [
319
+ 0,
320
+ 3
321
+ ],
322
+ "joint_positions": [
323
+ 0.4259786605834961,
324
+ -0.0
325
+ ],
326
+ "cam_pose": [
327
+ -2.7887611389160156,
328
+ -0.03102286532521248,
329
+ 1.0010515451431274
330
+ ],
331
+ "cam_distance": 2.9631495475769043
332
+ },
333
+ {
334
+ "frame": 17,
335
+ "take": 6,
336
+ "manipulation_level": 2,
337
+ "active_joints": [
338
+ 0,
339
+ 3
340
+ ],
341
+ "joint_positions": [
342
+ 0.4526023268699646,
343
+ -0.0
344
+ ],
345
+ "cam_pose": [
346
+ -2.7887611389160156,
347
+ -0.03102286532521248,
348
+ 1.0010515451431274
349
+ ],
350
+ "cam_distance": 2.9631495475769043
351
+ },
352
+ {
353
+ "frame": 18,
354
+ "take": 6,
355
+ "manipulation_level": 2,
356
+ "active_joints": [
357
+ 0,
358
+ 3
359
+ ],
360
+ "joint_positions": [
361
+ 0.4792259931564331,
362
+ -0.0
363
+ ],
364
+ "cam_pose": [
365
+ -2.7887611389160156,
366
+ -0.03102286532521248,
367
+ 1.0010515451431274
368
+ ],
369
+ "cam_distance": 2.9631495475769043
370
+ },
371
+ {
372
+ "frame": 19,
373
+ "take": 6,
374
+ "manipulation_level": 2,
375
+ "active_joints": [
376
+ 0,
377
+ 3
378
+ ],
379
+ "joint_positions": [
380
+ 0.5058496594429016,
381
+ -0.0
382
+ ],
383
+ "cam_pose": [
384
+ -2.7887611389160156,
385
+ -0.03102286532521248,
386
+ 1.0010515451431274
387
+ ],
388
+ "cam_distance": 2.9631495475769043
389
+ },
390
+ {
391
+ "frame": 20,
392
+ "take": 6,
393
+ "manipulation_level": 2,
394
+ "active_joints": [
395
+ 0,
396
+ 3
397
+ ],
398
+ "joint_positions": [
399
+ 0.5324733257293701,
400
+ -0.0
401
+ ],
402
+ "cam_pose": [
403
+ -2.7887611389160156,
404
+ -0.03102286532521248,
405
+ 1.0010515451431274
406
+ ],
407
+ "cam_distance": 2.9631495475769043
408
+ },
409
+ {
410
+ "frame": 21,
411
+ "take": 6,
412
+ "manipulation_level": 2,
413
+ "active_joints": [
414
+ 0,
415
+ 3
416
+ ],
417
+ "joint_positions": [
418
+ 0.5590969920158386,
419
+ -0.0
420
+ ],
421
+ "cam_pose": [
422
+ -2.7887611389160156,
423
+ -0.03102286532521248,
424
+ 1.0010515451431274
425
+ ],
426
+ "cam_distance": 2.9631495475769043
427
+ },
428
+ {
429
+ "frame": 22,
430
+ "take": 6,
431
+ "manipulation_level": 2,
432
+ "active_joints": [
433
+ 0,
434
+ 3
435
+ ],
436
+ "joint_positions": [
437
+ 0.5857206583023071,
438
+ -0.0
439
+ ],
440
+ "cam_pose": [
441
+ -2.7887611389160156,
442
+ -0.03102286532521248,
443
+ 1.0010515451431274
444
+ ],
445
+ "cam_distance": 2.9631495475769043
446
+ },
447
+ {
448
+ "frame": 23,
449
+ "take": 6,
450
+ "manipulation_level": 2,
451
+ "active_joints": [
452
+ 0,
453
+ 3
454
+ ],
455
+ "joint_positions": [
456
+ 0.6123443245887756,
457
+ -0.0
458
+ ],
459
+ "cam_pose": [
460
+ -2.7887611389160156,
461
+ -0.03102286532521248,
462
+ 1.0010515451431274
463
+ ],
464
+ "cam_distance": 2.9631495475769043
465
+ },
466
+ {
467
+ "frame": 24,
468
+ "take": 6,
469
+ "manipulation_level": 2,
470
+ "active_joints": [
471
+ 0,
472
+ 3
473
+ ],
474
+ "joint_positions": [
475
+ 0.6389679908752441,
476
+ -0.0
477
+ ],
478
+ "cam_pose": [
479
+ -2.7887611389160156,
480
+ -0.03102286532521248,
481
+ 1.0010515451431274
482
+ ],
483
+ "cam_distance": 2.9631495475769043
484
+ },
485
+ {
486
+ "frame": 25,
487
+ "take": 6,
488
+ "manipulation_level": 2,
489
+ "active_joints": [
490
+ 0,
491
+ 3
492
+ ],
493
+ "joint_positions": [
494
+ 0.6655916571617126,
495
+ -0.0
496
+ ],
497
+ "cam_pose": [
498
+ -2.7887611389160156,
499
+ -0.03102286532521248,
500
+ 1.0010515451431274
501
+ ],
502
+ "cam_distance": 2.9631495475769043
503
+ },
504
+ {
505
+ "frame": 26,
506
+ "take": 6,
507
+ "manipulation_level": 2,
508
+ "active_joints": [
509
+ 0,
510
+ 3
511
+ ],
512
+ "joint_positions": [
513
+ 0.6922153234481812,
514
+ -0.0
515
+ ],
516
+ "cam_pose": [
517
+ -2.7887611389160156,
518
+ -0.03102286532521248,
519
+ 1.0010515451431274
520
+ ],
521
+ "cam_distance": 2.9631495475769043
522
+ },
523
+ {
524
+ "frame": 27,
525
+ "take": 6,
526
+ "manipulation_level": 2,
527
+ "active_joints": [
528
+ 0,
529
+ 3
530
+ ],
531
+ "joint_positions": [
532
+ 0.7188389897346497,
533
+ -0.0
534
+ ],
535
+ "cam_pose": [
536
+ -2.7887611389160156,
537
+ -0.03102286532521248,
538
+ 1.0010515451431274
539
+ ],
540
+ "cam_distance": 2.9631495475769043
541
+ },
542
+ {
543
+ "frame": 28,
544
+ "take": 6,
545
+ "manipulation_level": 2,
546
+ "active_joints": [
547
+ 0,
548
+ 3
549
+ ],
550
+ "joint_positions": [
551
+ 0.7454626560211182,
552
+ -0.0
553
+ ],
554
+ "cam_pose": [
555
+ -2.7887611389160156,
556
+ -0.03102286532521248,
557
+ 1.0010515451431274
558
+ ],
559
+ "cam_distance": 2.9631495475769043
560
+ },
561
+ {
562
+ "frame": 29,
563
+ "take": 6,
564
+ "manipulation_level": 2,
565
+ "active_joints": [
566
+ 0,
567
+ 3
568
+ ],
569
+ "joint_positions": [
570
+ 0.7720863223075867,
571
+ -0.0
572
+ ],
573
+ "cam_pose": [
574
+ -2.7887611389160156,
575
+ -0.03102286532521248,
576
+ 1.0010515451431274
577
+ ],
578
+ "cam_distance": 2.9631495475769043
579
+ },
580
+ {
581
+ "frame": 30,
582
+ "take": 6,
583
+ "manipulation_level": 2,
584
+ "active_joints": [
585
+ 0,
586
+ 3
587
+ ],
588
+ "joint_positions": [
589
+ 0.7987099885940552,
590
+ -0.0
591
+ ],
592
+ "cam_pose": [
593
+ -2.7887611389160156,
594
+ -0.03102286532521248,
595
+ 1.0010515451431274
596
+ ],
597
+ "cam_distance": 2.9631495475769043
598
+ },
599
+ {
600
+ "frame": 31,
601
+ "take": 6,
602
+ "manipulation_level": 2,
603
+ "active_joints": [
604
+ 0,
605
+ 3
606
+ ],
607
+ "joint_positions": [
608
+ 0.8253336548805237,
609
+ -0.0
610
+ ],
611
+ "cam_pose": [
612
+ -2.7887611389160156,
613
+ -0.03102286532521248,
614
+ 1.0010515451431274
615
+ ],
616
+ "cam_distance": 2.9631495475769043
617
+ },
618
+ {
619
+ "frame": 32,
620
+ "take": 6,
621
+ "manipulation_level": 2,
622
+ "active_joints": [
623
+ 0,
624
+ 3
625
+ ],
626
+ "joint_positions": [
627
+ 0.8519573211669922,
628
+ -0.0
629
+ ],
630
+ "cam_pose": [
631
+ -2.7887611389160156,
632
+ -0.03102286532521248,
633
+ 1.0010515451431274
634
+ ],
635
+ "cam_distance": 2.9631495475769043
636
+ },
637
+ {
638
+ "frame": 33,
639
+ "take": 6,
640
+ "manipulation_level": 2,
641
+ "active_joints": [
642
+ 0,
643
+ 3
644
+ ],
645
+ "joint_positions": [
646
+ 0.8785809874534607,
647
+ -0.0
648
+ ],
649
+ "cam_pose": [
650
+ -2.7887611389160156,
651
+ -0.03102286532521248,
652
+ 1.0010515451431274
653
+ ],
654
+ "cam_distance": 2.9631495475769043
655
+ },
656
+ {
657
+ "frame": 34,
658
+ "take": 6,
659
+ "manipulation_level": 2,
660
+ "active_joints": [
661
+ 0,
662
+ 3
663
+ ],
664
+ "joint_positions": [
665
+ 0.9052046537399292,
666
+ -0.0
667
+ ],
668
+ "cam_pose": [
669
+ -2.7887611389160156,
670
+ -0.03102286532521248,
671
+ 1.0010515451431274
672
+ ],
673
+ "cam_distance": 2.9631495475769043
674
+ },
675
+ {
676
+ "frame": 35,
677
+ "take": 6,
678
+ "manipulation_level": 2,
679
+ "active_joints": [
680
+ 0,
681
+ 3
682
+ ],
683
+ "joint_positions": [
684
+ 0.9318283200263977,
685
+ -0.0
686
+ ],
687
+ "cam_pose": [
688
+ -2.7887611389160156,
689
+ -0.03102286532521248,
690
+ 1.0010515451431274
691
+ ],
692
+ "cam_distance": 2.9631495475769043
693
+ },
694
+ {
695
+ "frame": 36,
696
+ "take": 6,
697
+ "manipulation_level": 2,
698
+ "active_joints": [
699
+ 0,
700
+ 3
701
+ ],
702
+ "joint_positions": [
703
+ 0.9584519863128662,
704
+ -0.0
705
+ ],
706
+ "cam_pose": [
707
+ -2.7887611389160156,
708
+ -0.03102286532521248,
709
+ 1.0010515451431274
710
+ ],
711
+ "cam_distance": 2.9631495475769043
712
+ },
713
+ {
714
+ "frame": 37,
715
+ "take": 6,
716
+ "manipulation_level": 2,
717
+ "active_joints": [
718
+ 0,
719
+ 3
720
+ ],
721
+ "joint_positions": [
722
+ 0.9850756525993347,
723
+ -0.0
724
+ ],
725
+ "cam_pose": [
726
+ -2.7887611389160156,
727
+ -0.03102286532521248,
728
+ 1.0010515451431274
729
+ ],
730
+ "cam_distance": 2.9631495475769043
731
+ },
732
+ {
733
+ "frame": 38,
734
+ "take": 6,
735
+ "manipulation_level": 2,
736
+ "active_joints": [
737
+ 0,
738
+ 3
739
+ ],
740
+ "joint_positions": [
741
+ 1.0116993188858032,
742
+ -0.0
743
+ ],
744
+ "cam_pose": [
745
+ -2.7887611389160156,
746
+ -0.03102286532521248,
747
+ 1.0010515451431274
748
+ ],
749
+ "cam_distance": 2.9631495475769043
750
+ },
751
+ {
752
+ "frame": 39,
753
+ "take": 6,
754
+ "manipulation_level": 2,
755
+ "active_joints": [
756
+ 0,
757
+ 3
758
+ ],
759
+ "joint_positions": [
760
+ 1.0383230447769165,
761
+ -0.0
762
+ ],
763
+ "cam_pose": [
764
+ -2.7887611389160156,
765
+ -0.03102286532521248,
766
+ 1.0010515451431274
767
+ ],
768
+ "cam_distance": 2.9631495475769043
769
+ },
770
+ {
771
+ "frame": 40,
772
+ "take": 6,
773
+ "manipulation_level": 2,
774
+ "active_joints": [
775
+ 0,
776
+ 3
777
+ ],
778
+ "joint_positions": [
779
+ 1.0649466514587402,
780
+ -0.0
781
+ ],
782
+ "cam_pose": [
783
+ -2.7887611389160156,
784
+ -0.03102286532521248,
785
+ 1.0010515451431274
786
+ ],
787
+ "cam_distance": 2.9631495475769043
788
+ },
789
+ {
790
+ "frame": 41,
791
+ "take": 6,
792
+ "manipulation_level": 2,
793
+ "active_joints": [
794
+ 0,
795
+ 3
796
+ ],
797
+ "joint_positions": [
798
+ 1.0915703773498535,
799
+ -0.0
800
+ ],
801
+ "cam_pose": [
802
+ -2.7887611389160156,
803
+ -0.03102286532521248,
804
+ 1.0010515451431274
805
+ ],
806
+ "cam_distance": 2.9631495475769043
807
+ },
808
+ {
809
+ "frame": 42,
810
+ "take": 6,
811
+ "manipulation_level": 2,
812
+ "active_joints": [
813
+ 0,
814
+ 3
815
+ ],
816
+ "joint_positions": [
817
+ 1.1181939840316772,
818
+ -0.0
819
+ ],
820
+ "cam_pose": [
821
+ -2.7887611389160156,
822
+ -0.03102286532521248,
823
+ 1.0010515451431274
824
+ ],
825
+ "cam_distance": 2.9631495475769043
826
+ },
827
+ {
828
+ "frame": 43,
829
+ "take": 6,
830
+ "manipulation_level": 2,
831
+ "active_joints": [
832
+ 0,
833
+ 3
834
+ ],
835
+ "joint_positions": [
836
+ 1.1448177099227905,
837
+ -0.0
838
+ ],
839
+ "cam_pose": [
840
+ -2.7887611389160156,
841
+ -0.03102286532521248,
842
+ 1.0010515451431274
843
+ ],
844
+ "cam_distance": 2.9631495475769043
845
+ },
846
+ {
847
+ "frame": 44,
848
+ "take": 6,
849
+ "manipulation_level": 2,
850
+ "active_joints": [
851
+ 0,
852
+ 3
853
+ ],
854
+ "joint_positions": [
855
+ 1.1714413166046143,
856
+ -0.0
857
+ ],
858
+ "cam_pose": [
859
+ -2.7887611389160156,
860
+ -0.03102286532521248,
861
+ 1.0010515451431274
862
+ ],
863
+ "cam_distance": 2.9631495475769043
864
+ },
865
+ {
866
+ "frame": 45,
867
+ "take": 6,
868
+ "manipulation_level": 2,
869
+ "active_joints": [
870
+ 0,
871
+ 3
872
+ ],
873
+ "joint_positions": [
874
+ 1.1980650424957275,
875
+ -0.0
876
+ ],
877
+ "cam_pose": [
878
+ -2.7887611389160156,
879
+ -0.03102286532521248,
880
+ 1.0010515451431274
881
+ ],
882
+ "cam_distance": 2.9631495475769043
883
+ },
884
+ {
885
+ "frame": 46,
886
+ "take": 6,
887
+ "manipulation_level": 2,
888
+ "active_joints": [
889
+ 0,
890
+ 3
891
+ ],
892
+ "joint_positions": [
893
+ 1.2246886491775513,
894
+ -0.0
895
+ ],
896
+ "cam_pose": [
897
+ -2.7887611389160156,
898
+ -0.03102286532521248,
899
+ 1.0010515451431274
900
+ ],
901
+ "cam_distance": 2.9631495475769043
902
+ },
903
+ {
904
+ "frame": 47,
905
+ "take": 6,
906
+ "manipulation_level": 2,
907
+ "active_joints": [
908
+ 0,
909
+ 3
910
+ ],
911
+ "joint_positions": [
912
+ 1.2513123750686646,
913
+ -0.0
914
+ ],
915
+ "cam_pose": [
916
+ -2.7887611389160156,
917
+ -0.03102286532521248,
918
+ 1.0010515451431274
919
+ ],
920
+ "cam_distance": 2.9631495475769043
921
+ },
922
+ {
923
+ "frame": 48,
924
+ "take": 6,
925
+ "manipulation_level": 2,
926
+ "active_joints": [
927
+ 0,
928
+ 3
929
+ ],
930
+ "joint_positions": [
931
+ 1.2779359817504883,
932
+ -0.0
933
+ ],
934
+ "cam_pose": [
935
+ -2.7887611389160156,
936
+ -0.03102286532521248,
937
+ 1.0010515451431274
938
+ ],
939
+ "cam_distance": 2.9631495475769043
940
+ },
941
+ {
942
+ "frame": 49,
943
+ "take": 6,
944
+ "manipulation_level": 2,
945
+ "active_joints": [
946
+ 0,
947
+ 3
948
+ ],
949
+ "joint_positions": [
950
+ 1.3045597076416016,
951
+ -0.0
952
+ ],
953
+ "cam_pose": [
954
+ -2.7887611389160156,
955
+ -0.03102286532521248,
956
+ 1.0010515451431274
957
+ ],
958
+ "cam_distance": 2.9631495475769043
959
+ },
960
+ {
961
+ "frame": 50,
962
+ "take": 6,
963
+ "manipulation_level": 2,
964
+ "active_joints": [
965
+ 0,
966
+ 3
967
+ ],
968
+ "joint_positions": [
969
+ 1.3311833143234253,
970
+ -0.0
971
+ ],
972
+ "cam_pose": [
973
+ -2.7887611389160156,
974
+ -0.03102286532521248,
975
+ 1.0010515451431274
976
+ ],
977
+ "cam_distance": 2.9631495475769043
978
+ },
979
+ {
980
+ "frame": 51,
981
+ "take": 6,
982
+ "manipulation_level": 2,
983
+ "active_joints": [
984
+ 0,
985
+ 3
986
+ ],
987
+ "joint_positions": [
988
+ 1.3578070402145386,
989
+ -0.0
990
+ ],
991
+ "cam_pose": [
992
+ -2.7887611389160156,
993
+ -0.03102286532521248,
994
+ 1.0010515451431274
995
+ ],
996
+ "cam_distance": 2.9631495475769043
997
+ },
998
+ {
999
+ "frame": 52,
1000
+ "take": 6,
1001
+ "manipulation_level": 2,
1002
+ "active_joints": [
1003
+ 0,
1004
+ 3
1005
+ ],
1006
+ "joint_positions": [
1007
+ 1.3844306468963623,
1008
+ -0.0
1009
+ ],
1010
+ "cam_pose": [
1011
+ -2.7887611389160156,
1012
+ -0.03102286532521248,
1013
+ 1.0010515451431274
1014
+ ],
1015
+ "cam_distance": 2.9631495475769043
1016
+ },
1017
+ {
1018
+ "frame": 53,
1019
+ "take": 6,
1020
+ "manipulation_level": 2,
1021
+ "active_joints": [
1022
+ 0,
1023
+ 3
1024
+ ],
1025
+ "joint_positions": [
1026
+ 1.4110543727874756,
1027
+ -0.0
1028
+ ],
1029
+ "cam_pose": [
1030
+ -2.7887611389160156,
1031
+ -0.03102286532521248,
1032
+ 1.0010515451431274
1033
+ ],
1034
+ "cam_distance": 2.9631495475769043
1035
+ },
1036
+ {
1037
+ "frame": 54,
1038
+ "take": 6,
1039
+ "manipulation_level": 2,
1040
+ "active_joints": [
1041
+ 0,
1042
+ 3
1043
+ ],
1044
+ "joint_positions": [
1045
+ 1.4376779794692993,
1046
+ -0.0
1047
+ ],
1048
+ "cam_pose": [
1049
+ -2.7887611389160156,
1050
+ -0.03102286532521248,
1051
+ 1.0010515451431274
1052
+ ],
1053
+ "cam_distance": 2.9631495475769043
1054
+ },
1055
+ {
1056
+ "frame": 55,
1057
+ "take": 6,
1058
+ "manipulation_level": 2,
1059
+ "active_joints": [
1060
+ 0,
1061
+ 3
1062
+ ],
1063
+ "joint_positions": [
1064
+ 1.4643017053604126,
1065
+ -0.0
1066
+ ],
1067
+ "cam_pose": [
1068
+ -2.7887611389160156,
1069
+ -0.03102286532521248,
1070
+ 1.0010515451431274
1071
+ ],
1072
+ "cam_distance": 2.9631495475769043
1073
+ },
1074
+ {
1075
+ "frame": 56,
1076
+ "take": 6,
1077
+ "manipulation_level": 2,
1078
+ "active_joints": [
1079
+ 0,
1080
+ 3
1081
+ ],
1082
+ "joint_positions": [
1083
+ 1.4909253120422363,
1084
+ -0.0
1085
+ ],
1086
+ "cam_pose": [
1087
+ -2.7887611389160156,
1088
+ -0.03102286532521248,
1089
+ 1.0010515451431274
1090
+ ],
1091
+ "cam_distance": 2.9631495475769043
1092
+ },
1093
+ {
1094
+ "frame": 57,
1095
+ "take": 6,
1096
+ "manipulation_level": 2,
1097
+ "active_joints": [
1098
+ 0,
1099
+ 3
1100
+ ],
1101
+ "joint_positions": [
1102
+ 1.5175490379333496,
1103
+ -0.0
1104
+ ],
1105
+ "cam_pose": [
1106
+ -2.7887611389160156,
1107
+ -0.03102286532521248,
1108
+ 1.0010515451431274
1109
+ ],
1110
+ "cam_distance": 2.9631495475769043
1111
+ },
1112
+ {
1113
+ "frame": 58,
1114
+ "take": 6,
1115
+ "manipulation_level": 2,
1116
+ "active_joints": [
1117
+ 0,
1118
+ 3
1119
+ ],
1120
+ "joint_positions": [
1121
+ 1.5441726446151733,
1122
+ -0.0
1123
+ ],
1124
+ "cam_pose": [
1125
+ -2.7887611389160156,
1126
+ -0.03102286532521248,
1127
+ 1.0010515451431274
1128
+ ],
1129
+ "cam_distance": 2.9631495475769043
1130
+ },
1131
+ {
1132
+ "frame": 59,
1133
+ "take": 6,
1134
+ "manipulation_level": 2,
1135
+ "active_joints": [
1136
+ 0,
1137
+ 3
1138
+ ],
1139
+ "joint_positions": [
1140
+ 1.5707963705062866,
1141
+ -0.0
1142
+ ],
1143
+ "cam_pose": [
1144
+ -2.7887611389160156,
1145
+ -0.03102286532521248,
1146
+ 1.0010515451431274
1147
+ ],
1148
+ "cam_distance": 2.9631495475769043
1149
+ },
1150
+ {
1151
+ "frame": 60,
1152
+ "take": 6,
1153
+ "manipulation_level": 2,
1154
+ "active_joints": [
1155
+ 0,
1156
+ 3
1157
+ ],
1158
+ "joint_positions": [
1159
+ -0.0,
1160
+ 0.0
1161
+ ],
1162
+ "cam_pose": [
1163
+ -2.7887611389160156,
1164
+ -0.03102286532521248,
1165
+ 1.0010515451431274
1166
+ ],
1167
+ "cam_distance": 2.9631495475769043
1168
+ },
1169
+ {
1170
+ "frame": 61,
1171
+ "take": 6,
1172
+ "manipulation_level": 2,
1173
+ "active_joints": [
1174
+ 0,
1175
+ 3
1176
+ ],
1177
+ "joint_positions": [
1178
+ -0.0,
1179
+ 0.026623666286468506
1180
+ ],
1181
+ "cam_pose": [
1182
+ -2.7887611389160156,
1183
+ -0.03102286532521248,
1184
+ 1.0010515451431274
1185
+ ],
1186
+ "cam_distance": 2.9631495475769043
1187
+ },
1188
+ {
1189
+ "frame": 62,
1190
+ "take": 6,
1191
+ "manipulation_level": 2,
1192
+ "active_joints": [
1193
+ 0,
1194
+ 3
1195
+ ],
1196
+ "joint_positions": [
1197
+ -0.0,
1198
+ 0.05324733257293701
1199
+ ],
1200
+ "cam_pose": [
1201
+ -2.7887611389160156,
1202
+ -0.03102286532521248,
1203
+ 1.0010515451431274
1204
+ ],
1205
+ "cam_distance": 2.9631495475769043
1206
+ },
1207
+ {
1208
+ "frame": 63,
1209
+ "take": 6,
1210
+ "manipulation_level": 2,
1211
+ "active_joints": [
1212
+ 0,
1213
+ 3
1214
+ ],
1215
+ "joint_positions": [
1216
+ -0.0,
1217
+ 0.07987099885940552
1218
+ ],
1219
+ "cam_pose": [
1220
+ -2.7887611389160156,
1221
+ -0.03102286532521248,
1222
+ 1.0010515451431274
1223
+ ],
1224
+ "cam_distance": 2.9631495475769043
1225
+ },
1226
+ {
1227
+ "frame": 64,
1228
+ "take": 6,
1229
+ "manipulation_level": 2,
1230
+ "active_joints": [
1231
+ 0,
1232
+ 3
1233
+ ],
1234
+ "joint_positions": [
1235
+ -0.0,
1236
+ 0.10649466514587402
1237
+ ],
1238
+ "cam_pose": [
1239
+ -2.7887611389160156,
1240
+ -0.03102286532521248,
1241
+ 1.0010515451431274
1242
+ ],
1243
+ "cam_distance": 2.9631495475769043
1244
+ },
1245
+ {
1246
+ "frame": 65,
1247
+ "take": 6,
1248
+ "manipulation_level": 2,
1249
+ "active_joints": [
1250
+ 0,
1251
+ 3
1252
+ ],
1253
+ "joint_positions": [
1254
+ -0.0,
1255
+ 0.13311833143234253
1256
+ ],
1257
+ "cam_pose": [
1258
+ -2.7887611389160156,
1259
+ -0.03102286532521248,
1260
+ 1.0010515451431274
1261
+ ],
1262
+ "cam_distance": 2.9631495475769043
1263
+ },
1264
+ {
1265
+ "frame": 66,
1266
+ "take": 6,
1267
+ "manipulation_level": 2,
1268
+ "active_joints": [
1269
+ 0,
1270
+ 3
1271
+ ],
1272
+ "joint_positions": [
1273
+ -0.0,
1274
+ 0.15974199771881104
1275
+ ],
1276
+ "cam_pose": [
1277
+ -2.7887611389160156,
1278
+ -0.03102286532521248,
1279
+ 1.0010515451431274
1280
+ ],
1281
+ "cam_distance": 2.9631495475769043
1282
+ },
1283
+ {
1284
+ "frame": 67,
1285
+ "take": 6,
1286
+ "manipulation_level": 2,
1287
+ "active_joints": [
1288
+ 0,
1289
+ 3
1290
+ ],
1291
+ "joint_positions": [
1292
+ -0.0,
1293
+ 0.18636566400527954
1294
+ ],
1295
+ "cam_pose": [
1296
+ -2.7887611389160156,
1297
+ -0.03102286532521248,
1298
+ 1.0010515451431274
1299
+ ],
1300
+ "cam_distance": 2.9631495475769043
1301
+ },
1302
+ {
1303
+ "frame": 68,
1304
+ "take": 6,
1305
+ "manipulation_level": 2,
1306
+ "active_joints": [
1307
+ 0,
1308
+ 3
1309
+ ],
1310
+ "joint_positions": [
1311
+ -0.0,
1312
+ 0.21298933029174805
1313
+ ],
1314
+ "cam_pose": [
1315
+ -2.7887611389160156,
1316
+ -0.03102286532521248,
1317
+ 1.0010515451431274
1318
+ ],
1319
+ "cam_distance": 2.9631495475769043
1320
+ },
1321
+ {
1322
+ "frame": 69,
1323
+ "take": 6,
1324
+ "manipulation_level": 2,
1325
+ "active_joints": [
1326
+ 0,
1327
+ 3
1328
+ ],
1329
+ "joint_positions": [
1330
+ -0.0,
1331
+ 0.23961299657821655
1332
+ ],
1333
+ "cam_pose": [
1334
+ -2.7887611389160156,
1335
+ -0.03102286532521248,
1336
+ 1.0010515451431274
1337
+ ],
1338
+ "cam_distance": 2.9631495475769043
1339
+ },
1340
+ {
1341
+ "frame": 70,
1342
+ "take": 6,
1343
+ "manipulation_level": 2,
1344
+ "active_joints": [
1345
+ 0,
1346
+ 3
1347
+ ],
1348
+ "joint_positions": [
1349
+ -0.0,
1350
+ 0.26623666286468506
1351
+ ],
1352
+ "cam_pose": [
1353
+ -2.7887611389160156,
1354
+ -0.03102286532521248,
1355
+ 1.0010515451431274
1356
+ ],
1357
+ "cam_distance": 2.9631495475769043
1358
+ },
1359
+ {
1360
+ "frame": 71,
1361
+ "take": 6,
1362
+ "manipulation_level": 2,
1363
+ "active_joints": [
1364
+ 0,
1365
+ 3
1366
+ ],
1367
+ "joint_positions": [
1368
+ -0.0,
1369
+ 0.29286032915115356
1370
+ ],
1371
+ "cam_pose": [
1372
+ -2.7887611389160156,
1373
+ -0.03102286532521248,
1374
+ 1.0010515451431274
1375
+ ],
1376
+ "cam_distance": 2.9631495475769043
1377
+ },
1378
+ {
1379
+ "frame": 72,
1380
+ "take": 6,
1381
+ "manipulation_level": 2,
1382
+ "active_joints": [
1383
+ 0,
1384
+ 3
1385
+ ],
1386
+ "joint_positions": [
1387
+ -0.0,
1388
+ 0.31948399543762207
1389
+ ],
1390
+ "cam_pose": [
1391
+ -2.7887611389160156,
1392
+ -0.03102286532521248,
1393
+ 1.0010515451431274
1394
+ ],
1395
+ "cam_distance": 2.9631495475769043
1396
+ },
1397
+ {
1398
+ "frame": 73,
1399
+ "take": 6,
1400
+ "manipulation_level": 2,
1401
+ "active_joints": [
1402
+ 0,
1403
+ 3
1404
+ ],
1405
+ "joint_positions": [
1406
+ -0.0,
1407
+ 0.3461076617240906
1408
+ ],
1409
+ "cam_pose": [
1410
+ -2.7887611389160156,
1411
+ -0.03102286532521248,
1412
+ 1.0010515451431274
1413
+ ],
1414
+ "cam_distance": 2.9631495475769043
1415
+ },
1416
+ {
1417
+ "frame": 74,
1418
+ "take": 6,
1419
+ "manipulation_level": 2,
1420
+ "active_joints": [
1421
+ 0,
1422
+ 3
1423
+ ],
1424
+ "joint_positions": [
1425
+ -0.0,
1426
+ 0.3727313280105591
1427
+ ],
1428
+ "cam_pose": [
1429
+ -2.7887611389160156,
1430
+ -0.03102286532521248,
1431
+ 1.0010515451431274
1432
+ ],
1433
+ "cam_distance": 2.9631495475769043
1434
+ },
1435
+ {
1436
+ "frame": 75,
1437
+ "take": 6,
1438
+ "manipulation_level": 2,
1439
+ "active_joints": [
1440
+ 0,
1441
+ 3
1442
+ ],
1443
+ "joint_positions": [
1444
+ -0.0,
1445
+ 0.3993549942970276
1446
+ ],
1447
+ "cam_pose": [
1448
+ -2.7887611389160156,
1449
+ -0.03102286532521248,
1450
+ 1.0010515451431274
1451
+ ],
1452
+ "cam_distance": 2.9631495475769043
1453
+ },
1454
+ {
1455
+ "frame": 76,
1456
+ "take": 6,
1457
+ "manipulation_level": 2,
1458
+ "active_joints": [
1459
+ 0,
1460
+ 3
1461
+ ],
1462
+ "joint_positions": [
1463
+ -0.0,
1464
+ 0.4259786605834961
1465
+ ],
1466
+ "cam_pose": [
1467
+ -2.7887611389160156,
1468
+ -0.03102286532521248,
1469
+ 1.0010515451431274
1470
+ ],
1471
+ "cam_distance": 2.9631495475769043
1472
+ },
1473
+ {
1474
+ "frame": 77,
1475
+ "take": 6,
1476
+ "manipulation_level": 2,
1477
+ "active_joints": [
1478
+ 0,
1479
+ 3
1480
+ ],
1481
+ "joint_positions": [
1482
+ -0.0,
1483
+ 0.4526023268699646
1484
+ ],
1485
+ "cam_pose": [
1486
+ -2.7887611389160156,
1487
+ -0.03102286532521248,
1488
+ 1.0010515451431274
1489
+ ],
1490
+ "cam_distance": 2.9631495475769043
1491
+ },
1492
+ {
1493
+ "frame": 78,
1494
+ "take": 6,
1495
+ "manipulation_level": 2,
1496
+ "active_joints": [
1497
+ 0,
1498
+ 3
1499
+ ],
1500
+ "joint_positions": [
1501
+ -0.0,
1502
+ 0.4792259931564331
1503
+ ],
1504
+ "cam_pose": [
1505
+ -2.7887611389160156,
1506
+ -0.03102286532521248,
1507
+ 1.0010515451431274
1508
+ ],
1509
+ "cam_distance": 2.9631495475769043
1510
+ },
1511
+ {
1512
+ "frame": 79,
1513
+ "take": 6,
1514
+ "manipulation_level": 2,
1515
+ "active_joints": [
1516
+ 0,
1517
+ 3
1518
+ ],
1519
+ "joint_positions": [
1520
+ -0.0,
1521
+ 0.5058496594429016
1522
+ ],
1523
+ "cam_pose": [
1524
+ -2.7887611389160156,
1525
+ -0.03102286532521248,
1526
+ 1.0010515451431274
1527
+ ],
1528
+ "cam_distance": 2.9631495475769043
1529
+ },
1530
+ {
1531
+ "frame": 80,
1532
+ "take": 6,
1533
+ "manipulation_level": 2,
1534
+ "active_joints": [
1535
+ 0,
1536
+ 3
1537
+ ],
1538
+ "joint_positions": [
1539
+ -0.0,
1540
+ 0.5324733257293701
1541
+ ],
1542
+ "cam_pose": [
1543
+ -2.7887611389160156,
1544
+ -0.03102286532521248,
1545
+ 1.0010515451431274
1546
+ ],
1547
+ "cam_distance": 2.9631495475769043
1548
+ },
1549
+ {
1550
+ "frame": 81,
1551
+ "take": 6,
1552
+ "manipulation_level": 2,
1553
+ "active_joints": [
1554
+ 0,
1555
+ 3
1556
+ ],
1557
+ "joint_positions": [
1558
+ -0.0,
1559
+ 0.5590969920158386
1560
+ ],
1561
+ "cam_pose": [
1562
+ -2.7887611389160156,
1563
+ -0.03102286532521248,
1564
+ 1.0010515451431274
1565
+ ],
1566
+ "cam_distance": 2.9631495475769043
1567
+ },
1568
+ {
1569
+ "frame": 82,
1570
+ "take": 6,
1571
+ "manipulation_level": 2,
1572
+ "active_joints": [
1573
+ 0,
1574
+ 3
1575
+ ],
1576
+ "joint_positions": [
1577
+ -0.0,
1578
+ 0.5857206583023071
1579
+ ],
1580
+ "cam_pose": [
1581
+ -2.7887611389160156,
1582
+ -0.03102286532521248,
1583
+ 1.0010515451431274
1584
+ ],
1585
+ "cam_distance": 2.9631495475769043
1586
+ },
1587
+ {
1588
+ "frame": 83,
1589
+ "take": 6,
1590
+ "manipulation_level": 2,
1591
+ "active_joints": [
1592
+ 0,
1593
+ 3
1594
+ ],
1595
+ "joint_positions": [
1596
+ -0.0,
1597
+ 0.6123443245887756
1598
+ ],
1599
+ "cam_pose": [
1600
+ -2.7887611389160156,
1601
+ -0.03102286532521248,
1602
+ 1.0010515451431274
1603
+ ],
1604
+ "cam_distance": 2.9631495475769043
1605
+ },
1606
+ {
1607
+ "frame": 84,
1608
+ "take": 6,
1609
+ "manipulation_level": 2,
1610
+ "active_joints": [
1611
+ 0,
1612
+ 3
1613
+ ],
1614
+ "joint_positions": [
1615
+ -0.0,
1616
+ 0.6389679908752441
1617
+ ],
1618
+ "cam_pose": [
1619
+ -2.7887611389160156,
1620
+ -0.03102286532521248,
1621
+ 1.0010515451431274
1622
+ ],
1623
+ "cam_distance": 2.9631495475769043
1624
+ },
1625
+ {
1626
+ "frame": 85,
1627
+ "take": 6,
1628
+ "manipulation_level": 2,
1629
+ "active_joints": [
1630
+ 0,
1631
+ 3
1632
+ ],
1633
+ "joint_positions": [
1634
+ -0.0,
1635
+ 0.6655916571617126
1636
+ ],
1637
+ "cam_pose": [
1638
+ -2.7887611389160156,
1639
+ -0.03102286532521248,
1640
+ 1.0010515451431274
1641
+ ],
1642
+ "cam_distance": 2.9631495475769043
1643
+ },
1644
+ {
1645
+ "frame": 86,
1646
+ "take": 6,
1647
+ "manipulation_level": 2,
1648
+ "active_joints": [
1649
+ 0,
1650
+ 3
1651
+ ],
1652
+ "joint_positions": [
1653
+ -0.0,
1654
+ 0.6922153234481812
1655
+ ],
1656
+ "cam_pose": [
1657
+ -2.7887611389160156,
1658
+ -0.03102286532521248,
1659
+ 1.0010515451431274
1660
+ ],
1661
+ "cam_distance": 2.9631495475769043
1662
+ },
1663
+ {
1664
+ "frame": 87,
1665
+ "take": 6,
1666
+ "manipulation_level": 2,
1667
+ "active_joints": [
1668
+ 0,
1669
+ 3
1670
+ ],
1671
+ "joint_positions": [
1672
+ -0.0,
1673
+ 0.7188389897346497
1674
+ ],
1675
+ "cam_pose": [
1676
+ -2.7887611389160156,
1677
+ -0.03102286532521248,
1678
+ 1.0010515451431274
1679
+ ],
1680
+ "cam_distance": 2.9631495475769043
1681
+ },
1682
+ {
1683
+ "frame": 88,
1684
+ "take": 6,
1685
+ "manipulation_level": 2,
1686
+ "active_joints": [
1687
+ 0,
1688
+ 3
1689
+ ],
1690
+ "joint_positions": [
1691
+ -0.0,
1692
+ 0.7454626560211182
1693
+ ],
1694
+ "cam_pose": [
1695
+ -2.7887611389160156,
1696
+ -0.03102286532521248,
1697
+ 1.0010515451431274
1698
+ ],
1699
+ "cam_distance": 2.9631495475769043
1700
+ },
1701
+ {
1702
+ "frame": 89,
1703
+ "take": 6,
1704
+ "manipulation_level": 2,
1705
+ "active_joints": [
1706
+ 0,
1707
+ 3
1708
+ ],
1709
+ "joint_positions": [
1710
+ -0.0,
1711
+ 0.7720863223075867
1712
+ ],
1713
+ "cam_pose": [
1714
+ -2.7887611389160156,
1715
+ -0.03102286532521248,
1716
+ 1.0010515451431274
1717
+ ],
1718
+ "cam_distance": 2.9631495475769043
1719
+ },
1720
+ {
1721
+ "frame": 90,
1722
+ "take": 6,
1723
+ "manipulation_level": 2,
1724
+ "active_joints": [
1725
+ 0,
1726
+ 3
1727
+ ],
1728
+ "joint_positions": [
1729
+ -0.0,
1730
+ 0.7987099885940552
1731
+ ],
1732
+ "cam_pose": [
1733
+ -2.7887611389160156,
1734
+ -0.03102286532521248,
1735
+ 1.0010515451431274
1736
+ ],
1737
+ "cam_distance": 2.9631495475769043
1738
+ },
1739
+ {
1740
+ "frame": 91,
1741
+ "take": 6,
1742
+ "manipulation_level": 2,
1743
+ "active_joints": [
1744
+ 0,
1745
+ 3
1746
+ ],
1747
+ "joint_positions": [
1748
+ -0.0,
1749
+ 0.8253336548805237
1750
+ ],
1751
+ "cam_pose": [
1752
+ -2.7887611389160156,
1753
+ -0.03102286532521248,
1754
+ 1.0010515451431274
1755
+ ],
1756
+ "cam_distance": 2.9631495475769043
1757
+ },
1758
+ {
1759
+ "frame": 92,
1760
+ "take": 6,
1761
+ "manipulation_level": 2,
1762
+ "active_joints": [
1763
+ 0,
1764
+ 3
1765
+ ],
1766
+ "joint_positions": [
1767
+ -0.0,
1768
+ 0.8519573211669922
1769
+ ],
1770
+ "cam_pose": [
1771
+ -2.7887611389160156,
1772
+ -0.03102286532521248,
1773
+ 1.0010515451431274
1774
+ ],
1775
+ "cam_distance": 2.9631495475769043
1776
+ },
1777
+ {
1778
+ "frame": 93,
1779
+ "take": 6,
1780
+ "manipulation_level": 2,
1781
+ "active_joints": [
1782
+ 0,
1783
+ 3
1784
+ ],
1785
+ "joint_positions": [
1786
+ -0.0,
1787
+ 0.8785809874534607
1788
+ ],
1789
+ "cam_pose": [
1790
+ -2.7887611389160156,
1791
+ -0.03102286532521248,
1792
+ 1.0010515451431274
1793
+ ],
1794
+ "cam_distance": 2.9631495475769043
1795
+ },
1796
+ {
1797
+ "frame": 94,
1798
+ "take": 6,
1799
+ "manipulation_level": 2,
1800
+ "active_joints": [
1801
+ 0,
1802
+ 3
1803
+ ],
1804
+ "joint_positions": [
1805
+ -0.0,
1806
+ 0.9052046537399292
1807
+ ],
1808
+ "cam_pose": [
1809
+ -2.7887611389160156,
1810
+ -0.03102286532521248,
1811
+ 1.0010515451431274
1812
+ ],
1813
+ "cam_distance": 2.9631495475769043
1814
+ },
1815
+ {
1816
+ "frame": 95,
1817
+ "take": 6,
1818
+ "manipulation_level": 2,
1819
+ "active_joints": [
1820
+ 0,
1821
+ 3
1822
+ ],
1823
+ "joint_positions": [
1824
+ -0.0,
1825
+ 0.9318283200263977
1826
+ ],
1827
+ "cam_pose": [
1828
+ -2.7887611389160156,
1829
+ -0.03102286532521248,
1830
+ 1.0010515451431274
1831
+ ],
1832
+ "cam_distance": 2.9631495475769043
1833
+ },
1834
+ {
1835
+ "frame": 96,
1836
+ "take": 6,
1837
+ "manipulation_level": 2,
1838
+ "active_joints": [
1839
+ 0,
1840
+ 3
1841
+ ],
1842
+ "joint_positions": [
1843
+ -0.0,
1844
+ 0.9584519863128662
1845
+ ],
1846
+ "cam_pose": [
1847
+ -2.7887611389160156,
1848
+ -0.03102286532521248,
1849
+ 1.0010515451431274
1850
+ ],
1851
+ "cam_distance": 2.9631495475769043
1852
+ },
1853
+ {
1854
+ "frame": 97,
1855
+ "take": 6,
1856
+ "manipulation_level": 2,
1857
+ "active_joints": [
1858
+ 0,
1859
+ 3
1860
+ ],
1861
+ "joint_positions": [
1862
+ -0.0,
1863
+ 0.9850756525993347
1864
+ ],
1865
+ "cam_pose": [
1866
+ -2.7887611389160156,
1867
+ -0.03102286532521248,
1868
+ 1.0010515451431274
1869
+ ],
1870
+ "cam_distance": 2.9631495475769043
1871
+ },
1872
+ {
1873
+ "frame": 98,
1874
+ "take": 6,
1875
+ "manipulation_level": 2,
1876
+ "active_joints": [
1877
+ 0,
1878
+ 3
1879
+ ],
1880
+ "joint_positions": [
1881
+ -0.0,
1882
+ 1.0116993188858032
1883
+ ],
1884
+ "cam_pose": [
1885
+ -2.7887611389160156,
1886
+ -0.03102286532521248,
1887
+ 1.0010515451431274
1888
+ ],
1889
+ "cam_distance": 2.9631495475769043
1890
+ },
1891
+ {
1892
+ "frame": 99,
1893
+ "take": 6,
1894
+ "manipulation_level": 2,
1895
+ "active_joints": [
1896
+ 0,
1897
+ 3
1898
+ ],
1899
+ "joint_positions": [
1900
+ -0.0,
1901
+ 1.0383230447769165
1902
+ ],
1903
+ "cam_pose": [
1904
+ -2.7887611389160156,
1905
+ -0.03102286532521248,
1906
+ 1.0010515451431274
1907
+ ],
1908
+ "cam_distance": 2.9631495475769043
1909
+ },
1910
+ {
1911
+ "frame": 100,
1912
+ "take": 6,
1913
+ "manipulation_level": 2,
1914
+ "active_joints": [
1915
+ 0,
1916
+ 3
1917
+ ],
1918
+ "joint_positions": [
1919
+ -0.0,
1920
+ 1.0649466514587402
1921
+ ],
1922
+ "cam_pose": [
1923
+ -2.7887611389160156,
1924
+ -0.03102286532521248,
1925
+ 1.0010515451431274
1926
+ ],
1927
+ "cam_distance": 2.9631495475769043
1928
+ },
1929
+ {
1930
+ "frame": 101,
1931
+ "take": 6,
1932
+ "manipulation_level": 2,
1933
+ "active_joints": [
1934
+ 0,
1935
+ 3
1936
+ ],
1937
+ "joint_positions": [
1938
+ -0.0,
1939
+ 1.0915703773498535
1940
+ ],
1941
+ "cam_pose": [
1942
+ -2.7887611389160156,
1943
+ -0.03102286532521248,
1944
+ 1.0010515451431274
1945
+ ],
1946
+ "cam_distance": 2.9631495475769043
1947
+ },
1948
+ {
1949
+ "frame": 102,
1950
+ "take": 6,
1951
+ "manipulation_level": 2,
1952
+ "active_joints": [
1953
+ 0,
1954
+ 3
1955
+ ],
1956
+ "joint_positions": [
1957
+ -0.0,
1958
+ 1.1181939840316772
1959
+ ],
1960
+ "cam_pose": [
1961
+ -2.7887611389160156,
1962
+ -0.03102286532521248,
1963
+ 1.0010515451431274
1964
+ ],
1965
+ "cam_distance": 2.9631495475769043
1966
+ },
1967
+ {
1968
+ "frame": 103,
1969
+ "take": 6,
1970
+ "manipulation_level": 2,
1971
+ "active_joints": [
1972
+ 0,
1973
+ 3
1974
+ ],
1975
+ "joint_positions": [
1976
+ -0.0,
1977
+ 1.1448177099227905
1978
+ ],
1979
+ "cam_pose": [
1980
+ -2.7887611389160156,
1981
+ -0.03102286532521248,
1982
+ 1.0010515451431274
1983
+ ],
1984
+ "cam_distance": 2.9631495475769043
1985
+ },
1986
+ {
1987
+ "frame": 104,
1988
+ "take": 6,
1989
+ "manipulation_level": 2,
1990
+ "active_joints": [
1991
+ 0,
1992
+ 3
1993
+ ],
1994
+ "joint_positions": [
1995
+ -0.0,
1996
+ 1.1714413166046143
1997
+ ],
1998
+ "cam_pose": [
1999
+ -2.7887611389160156,
2000
+ -0.03102286532521248,
2001
+ 1.0010515451431274
2002
+ ],
2003
+ "cam_distance": 2.9631495475769043
2004
+ },
2005
+ {
2006
+ "frame": 105,
2007
+ "take": 6,
2008
+ "manipulation_level": 2,
2009
+ "active_joints": [
2010
+ 0,
2011
+ 3
2012
+ ],
2013
+ "joint_positions": [
2014
+ -0.0,
2015
+ 1.1980650424957275
2016
+ ],
2017
+ "cam_pose": [
2018
+ -2.7887611389160156,
2019
+ -0.03102286532521248,
2020
+ 1.0010515451431274
2021
+ ],
2022
+ "cam_distance": 2.9631495475769043
2023
+ },
2024
+ {
2025
+ "frame": 106,
2026
+ "take": 6,
2027
+ "manipulation_level": 2,
2028
+ "active_joints": [
2029
+ 0,
2030
+ 3
2031
+ ],
2032
+ "joint_positions": [
2033
+ -0.0,
2034
+ 1.2246886491775513
2035
+ ],
2036
+ "cam_pose": [
2037
+ -2.7887611389160156,
2038
+ -0.03102286532521248,
2039
+ 1.0010515451431274
2040
+ ],
2041
+ "cam_distance": 2.9631495475769043
2042
+ },
2043
+ {
2044
+ "frame": 107,
2045
+ "take": 6,
2046
+ "manipulation_level": 2,
2047
+ "active_joints": [
2048
+ 0,
2049
+ 3
2050
+ ],
2051
+ "joint_positions": [
2052
+ -0.0,
2053
+ 1.2513123750686646
2054
+ ],
2055
+ "cam_pose": [
2056
+ -2.7887611389160156,
2057
+ -0.03102286532521248,
2058
+ 1.0010515451431274
2059
+ ],
2060
+ "cam_distance": 2.9631495475769043
2061
+ },
2062
+ {
2063
+ "frame": 108,
2064
+ "take": 6,
2065
+ "manipulation_level": 2,
2066
+ "active_joints": [
2067
+ 0,
2068
+ 3
2069
+ ],
2070
+ "joint_positions": [
2071
+ -0.0,
2072
+ 1.2779359817504883
2073
+ ],
2074
+ "cam_pose": [
2075
+ -2.7887611389160156,
2076
+ -0.03102286532521248,
2077
+ 1.0010515451431274
2078
+ ],
2079
+ "cam_distance": 2.9631495475769043
2080
+ },
2081
+ {
2082
+ "frame": 109,
2083
+ "take": 6,
2084
+ "manipulation_level": 2,
2085
+ "active_joints": [
2086
+ 0,
2087
+ 3
2088
+ ],
2089
+ "joint_positions": [
2090
+ -0.0,
2091
+ 1.3045597076416016
2092
+ ],
2093
+ "cam_pose": [
2094
+ -2.7887611389160156,
2095
+ -0.03102286532521248,
2096
+ 1.0010515451431274
2097
+ ],
2098
+ "cam_distance": 2.9631495475769043
2099
+ },
2100
+ {
2101
+ "frame": 110,
2102
+ "take": 6,
2103
+ "manipulation_level": 2,
2104
+ "active_joints": [
2105
+ 0,
2106
+ 3
2107
+ ],
2108
+ "joint_positions": [
2109
+ -0.0,
2110
+ 1.3311833143234253
2111
+ ],
2112
+ "cam_pose": [
2113
+ -2.7887611389160156,
2114
+ -0.03102286532521248,
2115
+ 1.0010515451431274
2116
+ ],
2117
+ "cam_distance": 2.9631495475769043
2118
+ },
2119
+ {
2120
+ "frame": 111,
2121
+ "take": 6,
2122
+ "manipulation_level": 2,
2123
+ "active_joints": [
2124
+ 0,
2125
+ 3
2126
+ ],
2127
+ "joint_positions": [
2128
+ -0.0,
2129
+ 1.3578070402145386
2130
+ ],
2131
+ "cam_pose": [
2132
+ -2.7887611389160156,
2133
+ -0.03102286532521248,
2134
+ 1.0010515451431274
2135
+ ],
2136
+ "cam_distance": 2.9631495475769043
2137
+ },
2138
+ {
2139
+ "frame": 112,
2140
+ "take": 6,
2141
+ "manipulation_level": 2,
2142
+ "active_joints": [
2143
+ 0,
2144
+ 3
2145
+ ],
2146
+ "joint_positions": [
2147
+ -0.0,
2148
+ 1.3844306468963623
2149
+ ],
2150
+ "cam_pose": [
2151
+ -2.7887611389160156,
2152
+ -0.03102286532521248,
2153
+ 1.0010515451431274
2154
+ ],
2155
+ "cam_distance": 2.9631495475769043
2156
+ },
2157
+ {
2158
+ "frame": 113,
2159
+ "take": 6,
2160
+ "manipulation_level": 2,
2161
+ "active_joints": [
2162
+ 0,
2163
+ 3
2164
+ ],
2165
+ "joint_positions": [
2166
+ -0.0,
2167
+ 1.4110543727874756
2168
+ ],
2169
+ "cam_pose": [
2170
+ -2.7887611389160156,
2171
+ -0.03102286532521248,
2172
+ 1.0010515451431274
2173
+ ],
2174
+ "cam_distance": 2.9631495475769043
2175
+ },
2176
+ {
2177
+ "frame": 114,
2178
+ "take": 6,
2179
+ "manipulation_level": 2,
2180
+ "active_joints": [
2181
+ 0,
2182
+ 3
2183
+ ],
2184
+ "joint_positions": [
2185
+ -0.0,
2186
+ 1.4376779794692993
2187
+ ],
2188
+ "cam_pose": [
2189
+ -2.7887611389160156,
2190
+ -0.03102286532521248,
2191
+ 1.0010515451431274
2192
+ ],
2193
+ "cam_distance": 2.9631495475769043
2194
+ },
2195
+ {
2196
+ "frame": 115,
2197
+ "take": 6,
2198
+ "manipulation_level": 2,
2199
+ "active_joints": [
2200
+ 0,
2201
+ 3
2202
+ ],
2203
+ "joint_positions": [
2204
+ -0.0,
2205
+ 1.4643017053604126
2206
+ ],
2207
+ "cam_pose": [
2208
+ -2.7887611389160156,
2209
+ -0.03102286532521248,
2210
+ 1.0010515451431274
2211
+ ],
2212
+ "cam_distance": 2.9631495475769043
2213
+ },
2214
+ {
2215
+ "frame": 116,
2216
+ "take": 6,
2217
+ "manipulation_level": 2,
2218
+ "active_joints": [
2219
+ 0,
2220
+ 3
2221
+ ],
2222
+ "joint_positions": [
2223
+ -0.0,
2224
+ 1.4909253120422363
2225
+ ],
2226
+ "cam_pose": [
2227
+ -2.7887611389160156,
2228
+ -0.03102286532521248,
2229
+ 1.0010515451431274
2230
+ ],
2231
+ "cam_distance": 2.9631495475769043
2232
+ },
2233
+ {
2234
+ "frame": 117,
2235
+ "take": 6,
2236
+ "manipulation_level": 2,
2237
+ "active_joints": [
2238
+ 0,
2239
+ 3
2240
+ ],
2241
+ "joint_positions": [
2242
+ -0.0,
2243
+ 1.5175490379333496
2244
+ ],
2245
+ "cam_pose": [
2246
+ -2.7887611389160156,
2247
+ -0.03102286532521248,
2248
+ 1.0010515451431274
2249
+ ],
2250
+ "cam_distance": 2.9631495475769043
2251
+ },
2252
+ {
2253
+ "frame": 118,
2254
+ "take": 6,
2255
+ "manipulation_level": 2,
2256
+ "active_joints": [
2257
+ 0,
2258
+ 3
2259
+ ],
2260
+ "joint_positions": [
2261
+ -0.0,
2262
+ 1.5441726446151733
2263
+ ],
2264
+ "cam_pose": [
2265
+ -2.7887611389160156,
2266
+ -0.03102286532521248,
2267
+ 1.0010515451431274
2268
+ ],
2269
+ "cam_distance": 2.9631495475769043
2270
+ },
2271
+ {
2272
+ "frame": 119,
2273
+ "take": 6,
2274
+ "manipulation_level": 2,
2275
+ "active_joints": [
2276
+ 0,
2277
+ 3
2278
+ ],
2279
+ "joint_positions": [
2280
+ -0.0,
2281
+ 1.5707963705062866
2282
+ ],
2283
+ "cam_pose": [
2284
+ -2.7887611389160156,
2285
+ -0.03102286532521248,
2286
+ 1.0010515451431274
2287
+ ],
2288
+ "cam_distance": 2.9631495475769043
2289
+ }
2290
+ ]
2291
+ }
41003/take_07/metadata.json ADDED
@@ -0,0 +1,2291 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object_id": "41003",
3
+ "manipulation_level": 2,
4
+ "active_joints": [
5
+ 0,
6
+ 2
7
+ ],
8
+ "total_joints": 4,
9
+ "frames": [
10
+ {
11
+ "frame": 0,
12
+ "take": 7,
13
+ "manipulation_level": 2,
14
+ "active_joints": [
15
+ 0,
16
+ 2
17
+ ],
18
+ "joint_positions": [
19
+ 0.0,
20
+ -0.0
21
+ ],
22
+ "cam_pose": [
23
+ -2.516170024871826,
24
+ -0.34423592686653137,
25
+ 0.8255398869514465
26
+ ],
27
+ "cam_distance": 2.670416831970215
28
+ },
29
+ {
30
+ "frame": 1,
31
+ "take": 7,
32
+ "manipulation_level": 2,
33
+ "active_joints": [
34
+ 0,
35
+ 2
36
+ ],
37
+ "joint_positions": [
38
+ 0.026623666286468506,
39
+ -0.0
40
+ ],
41
+ "cam_pose": [
42
+ -2.516170024871826,
43
+ -0.34423592686653137,
44
+ 0.8255398869514465
45
+ ],
46
+ "cam_distance": 2.670416831970215
47
+ },
48
+ {
49
+ "frame": 2,
50
+ "take": 7,
51
+ "manipulation_level": 2,
52
+ "active_joints": [
53
+ 0,
54
+ 2
55
+ ],
56
+ "joint_positions": [
57
+ 0.05324733257293701,
58
+ -0.0
59
+ ],
60
+ "cam_pose": [
61
+ -2.516170024871826,
62
+ -0.34423592686653137,
63
+ 0.8255398869514465
64
+ ],
65
+ "cam_distance": 2.670416831970215
66
+ },
67
+ {
68
+ "frame": 3,
69
+ "take": 7,
70
+ "manipulation_level": 2,
71
+ "active_joints": [
72
+ 0,
73
+ 2
74
+ ],
75
+ "joint_positions": [
76
+ 0.07987099885940552,
77
+ -0.0
78
+ ],
79
+ "cam_pose": [
80
+ -2.516170024871826,
81
+ -0.34423592686653137,
82
+ 0.8255398869514465
83
+ ],
84
+ "cam_distance": 2.670416831970215
85
+ },
86
+ {
87
+ "frame": 4,
88
+ "take": 7,
89
+ "manipulation_level": 2,
90
+ "active_joints": [
91
+ 0,
92
+ 2
93
+ ],
94
+ "joint_positions": [
95
+ 0.10649466514587402,
96
+ -0.0
97
+ ],
98
+ "cam_pose": [
99
+ -2.516170024871826,
100
+ -0.34423592686653137,
101
+ 0.8255398869514465
102
+ ],
103
+ "cam_distance": 2.670416831970215
104
+ },
105
+ {
106
+ "frame": 5,
107
+ "take": 7,
108
+ "manipulation_level": 2,
109
+ "active_joints": [
110
+ 0,
111
+ 2
112
+ ],
113
+ "joint_positions": [
114
+ 0.13311833143234253,
115
+ -0.0
116
+ ],
117
+ "cam_pose": [
118
+ -2.516170024871826,
119
+ -0.34423592686653137,
120
+ 0.8255398869514465
121
+ ],
122
+ "cam_distance": 2.670416831970215
123
+ },
124
+ {
125
+ "frame": 6,
126
+ "take": 7,
127
+ "manipulation_level": 2,
128
+ "active_joints": [
129
+ 0,
130
+ 2
131
+ ],
132
+ "joint_positions": [
133
+ 0.15974199771881104,
134
+ -0.0
135
+ ],
136
+ "cam_pose": [
137
+ -2.516170024871826,
138
+ -0.34423592686653137,
139
+ 0.8255398869514465
140
+ ],
141
+ "cam_distance": 2.670416831970215
142
+ },
143
+ {
144
+ "frame": 7,
145
+ "take": 7,
146
+ "manipulation_level": 2,
147
+ "active_joints": [
148
+ 0,
149
+ 2
150
+ ],
151
+ "joint_positions": [
152
+ 0.18636566400527954,
153
+ -0.0
154
+ ],
155
+ "cam_pose": [
156
+ -2.516170024871826,
157
+ -0.34423592686653137,
158
+ 0.8255398869514465
159
+ ],
160
+ "cam_distance": 2.670416831970215
161
+ },
162
+ {
163
+ "frame": 8,
164
+ "take": 7,
165
+ "manipulation_level": 2,
166
+ "active_joints": [
167
+ 0,
168
+ 2
169
+ ],
170
+ "joint_positions": [
171
+ 0.21298933029174805,
172
+ -0.0
173
+ ],
174
+ "cam_pose": [
175
+ -2.516170024871826,
176
+ -0.34423592686653137,
177
+ 0.8255398869514465
178
+ ],
179
+ "cam_distance": 2.670416831970215
180
+ },
181
+ {
182
+ "frame": 9,
183
+ "take": 7,
184
+ "manipulation_level": 2,
185
+ "active_joints": [
186
+ 0,
187
+ 2
188
+ ],
189
+ "joint_positions": [
190
+ 0.23961299657821655,
191
+ -0.0
192
+ ],
193
+ "cam_pose": [
194
+ -2.516170024871826,
195
+ -0.34423592686653137,
196
+ 0.8255398869514465
197
+ ],
198
+ "cam_distance": 2.670416831970215
199
+ },
200
+ {
201
+ "frame": 10,
202
+ "take": 7,
203
+ "manipulation_level": 2,
204
+ "active_joints": [
205
+ 0,
206
+ 2
207
+ ],
208
+ "joint_positions": [
209
+ 0.26623666286468506,
210
+ -0.0
211
+ ],
212
+ "cam_pose": [
213
+ -2.516170024871826,
214
+ -0.34423592686653137,
215
+ 0.8255398869514465
216
+ ],
217
+ "cam_distance": 2.670416831970215
218
+ },
219
+ {
220
+ "frame": 11,
221
+ "take": 7,
222
+ "manipulation_level": 2,
223
+ "active_joints": [
224
+ 0,
225
+ 2
226
+ ],
227
+ "joint_positions": [
228
+ 0.29286032915115356,
229
+ -0.0
230
+ ],
231
+ "cam_pose": [
232
+ -2.516170024871826,
233
+ -0.34423592686653137,
234
+ 0.8255398869514465
235
+ ],
236
+ "cam_distance": 2.670416831970215
237
+ },
238
+ {
239
+ "frame": 12,
240
+ "take": 7,
241
+ "manipulation_level": 2,
242
+ "active_joints": [
243
+ 0,
244
+ 2
245
+ ],
246
+ "joint_positions": [
247
+ 0.31948399543762207,
248
+ -0.0
249
+ ],
250
+ "cam_pose": [
251
+ -2.516170024871826,
252
+ -0.34423592686653137,
253
+ 0.8255398869514465
254
+ ],
255
+ "cam_distance": 2.670416831970215
256
+ },
257
+ {
258
+ "frame": 13,
259
+ "take": 7,
260
+ "manipulation_level": 2,
261
+ "active_joints": [
262
+ 0,
263
+ 2
264
+ ],
265
+ "joint_positions": [
266
+ 0.3461076617240906,
267
+ -0.0
268
+ ],
269
+ "cam_pose": [
270
+ -2.516170024871826,
271
+ -0.34423592686653137,
272
+ 0.8255398869514465
273
+ ],
274
+ "cam_distance": 2.670416831970215
275
+ },
276
+ {
277
+ "frame": 14,
278
+ "take": 7,
279
+ "manipulation_level": 2,
280
+ "active_joints": [
281
+ 0,
282
+ 2
283
+ ],
284
+ "joint_positions": [
285
+ 0.3727313280105591,
286
+ -0.0
287
+ ],
288
+ "cam_pose": [
289
+ -2.516170024871826,
290
+ -0.34423592686653137,
291
+ 0.8255398869514465
292
+ ],
293
+ "cam_distance": 2.670416831970215
294
+ },
295
+ {
296
+ "frame": 15,
297
+ "take": 7,
298
+ "manipulation_level": 2,
299
+ "active_joints": [
300
+ 0,
301
+ 2
302
+ ],
303
+ "joint_positions": [
304
+ 0.3993549942970276,
305
+ -0.0
306
+ ],
307
+ "cam_pose": [
308
+ -2.516170024871826,
309
+ -0.34423592686653137,
310
+ 0.8255398869514465
311
+ ],
312
+ "cam_distance": 2.670416831970215
313
+ },
314
+ {
315
+ "frame": 16,
316
+ "take": 7,
317
+ "manipulation_level": 2,
318
+ "active_joints": [
319
+ 0,
320
+ 2
321
+ ],
322
+ "joint_positions": [
323
+ 0.4259786605834961,
324
+ -0.0
325
+ ],
326
+ "cam_pose": [
327
+ -2.516170024871826,
328
+ -0.34423592686653137,
329
+ 0.8255398869514465
330
+ ],
331
+ "cam_distance": 2.670416831970215
332
+ },
333
+ {
334
+ "frame": 17,
335
+ "take": 7,
336
+ "manipulation_level": 2,
337
+ "active_joints": [
338
+ 0,
339
+ 2
340
+ ],
341
+ "joint_positions": [
342
+ 0.4526023268699646,
343
+ -0.0
344
+ ],
345
+ "cam_pose": [
346
+ -2.516170024871826,
347
+ -0.34423592686653137,
348
+ 0.8255398869514465
349
+ ],
350
+ "cam_distance": 2.670416831970215
351
+ },
352
+ {
353
+ "frame": 18,
354
+ "take": 7,
355
+ "manipulation_level": 2,
356
+ "active_joints": [
357
+ 0,
358
+ 2
359
+ ],
360
+ "joint_positions": [
361
+ 0.4792259931564331,
362
+ -0.0
363
+ ],
364
+ "cam_pose": [
365
+ -2.516170024871826,
366
+ -0.34423592686653137,
367
+ 0.8255398869514465
368
+ ],
369
+ "cam_distance": 2.670416831970215
370
+ },
371
+ {
372
+ "frame": 19,
373
+ "take": 7,
374
+ "manipulation_level": 2,
375
+ "active_joints": [
376
+ 0,
377
+ 2
378
+ ],
379
+ "joint_positions": [
380
+ 0.5058496594429016,
381
+ -0.0
382
+ ],
383
+ "cam_pose": [
384
+ -2.516170024871826,
385
+ -0.34423592686653137,
386
+ 0.8255398869514465
387
+ ],
388
+ "cam_distance": 2.670416831970215
389
+ },
390
+ {
391
+ "frame": 20,
392
+ "take": 7,
393
+ "manipulation_level": 2,
394
+ "active_joints": [
395
+ 0,
396
+ 2
397
+ ],
398
+ "joint_positions": [
399
+ 0.5324733257293701,
400
+ -0.0
401
+ ],
402
+ "cam_pose": [
403
+ -2.516170024871826,
404
+ -0.34423592686653137,
405
+ 0.8255398869514465
406
+ ],
407
+ "cam_distance": 2.670416831970215
408
+ },
409
+ {
410
+ "frame": 21,
411
+ "take": 7,
412
+ "manipulation_level": 2,
413
+ "active_joints": [
414
+ 0,
415
+ 2
416
+ ],
417
+ "joint_positions": [
418
+ 0.5590969920158386,
419
+ -0.0
420
+ ],
421
+ "cam_pose": [
422
+ -2.516170024871826,
423
+ -0.34423592686653137,
424
+ 0.8255398869514465
425
+ ],
426
+ "cam_distance": 2.670416831970215
427
+ },
428
+ {
429
+ "frame": 22,
430
+ "take": 7,
431
+ "manipulation_level": 2,
432
+ "active_joints": [
433
+ 0,
434
+ 2
435
+ ],
436
+ "joint_positions": [
437
+ 0.5857206583023071,
438
+ -0.0
439
+ ],
440
+ "cam_pose": [
441
+ -2.516170024871826,
442
+ -0.34423592686653137,
443
+ 0.8255398869514465
444
+ ],
445
+ "cam_distance": 2.670416831970215
446
+ },
447
+ {
448
+ "frame": 23,
449
+ "take": 7,
450
+ "manipulation_level": 2,
451
+ "active_joints": [
452
+ 0,
453
+ 2
454
+ ],
455
+ "joint_positions": [
456
+ 0.6123443245887756,
457
+ -0.0
458
+ ],
459
+ "cam_pose": [
460
+ -2.516170024871826,
461
+ -0.34423592686653137,
462
+ 0.8255398869514465
463
+ ],
464
+ "cam_distance": 2.670416831970215
465
+ },
466
+ {
467
+ "frame": 24,
468
+ "take": 7,
469
+ "manipulation_level": 2,
470
+ "active_joints": [
471
+ 0,
472
+ 2
473
+ ],
474
+ "joint_positions": [
475
+ 0.6389679908752441,
476
+ -0.0
477
+ ],
478
+ "cam_pose": [
479
+ -2.516170024871826,
480
+ -0.34423592686653137,
481
+ 0.8255398869514465
482
+ ],
483
+ "cam_distance": 2.670416831970215
484
+ },
485
+ {
486
+ "frame": 25,
487
+ "take": 7,
488
+ "manipulation_level": 2,
489
+ "active_joints": [
490
+ 0,
491
+ 2
492
+ ],
493
+ "joint_positions": [
494
+ 0.6655916571617126,
495
+ -0.0
496
+ ],
497
+ "cam_pose": [
498
+ -2.516170024871826,
499
+ -0.34423592686653137,
500
+ 0.8255398869514465
501
+ ],
502
+ "cam_distance": 2.670416831970215
503
+ },
504
+ {
505
+ "frame": 26,
506
+ "take": 7,
507
+ "manipulation_level": 2,
508
+ "active_joints": [
509
+ 0,
510
+ 2
511
+ ],
512
+ "joint_positions": [
513
+ 0.6922153234481812,
514
+ -0.0
515
+ ],
516
+ "cam_pose": [
517
+ -2.516170024871826,
518
+ -0.34423592686653137,
519
+ 0.8255398869514465
520
+ ],
521
+ "cam_distance": 2.670416831970215
522
+ },
523
+ {
524
+ "frame": 27,
525
+ "take": 7,
526
+ "manipulation_level": 2,
527
+ "active_joints": [
528
+ 0,
529
+ 2
530
+ ],
531
+ "joint_positions": [
532
+ 0.7188389897346497,
533
+ -0.0
534
+ ],
535
+ "cam_pose": [
536
+ -2.516170024871826,
537
+ -0.34423592686653137,
538
+ 0.8255398869514465
539
+ ],
540
+ "cam_distance": 2.670416831970215
541
+ },
542
+ {
543
+ "frame": 28,
544
+ "take": 7,
545
+ "manipulation_level": 2,
546
+ "active_joints": [
547
+ 0,
548
+ 2
549
+ ],
550
+ "joint_positions": [
551
+ 0.7454626560211182,
552
+ -0.0
553
+ ],
554
+ "cam_pose": [
555
+ -2.516170024871826,
556
+ -0.34423592686653137,
557
+ 0.8255398869514465
558
+ ],
559
+ "cam_distance": 2.670416831970215
560
+ },
561
+ {
562
+ "frame": 29,
563
+ "take": 7,
564
+ "manipulation_level": 2,
565
+ "active_joints": [
566
+ 0,
567
+ 2
568
+ ],
569
+ "joint_positions": [
570
+ 0.7720863223075867,
571
+ -0.0
572
+ ],
573
+ "cam_pose": [
574
+ -2.516170024871826,
575
+ -0.34423592686653137,
576
+ 0.8255398869514465
577
+ ],
578
+ "cam_distance": 2.670416831970215
579
+ },
580
+ {
581
+ "frame": 30,
582
+ "take": 7,
583
+ "manipulation_level": 2,
584
+ "active_joints": [
585
+ 0,
586
+ 2
587
+ ],
588
+ "joint_positions": [
589
+ 0.7987099885940552,
590
+ -0.0
591
+ ],
592
+ "cam_pose": [
593
+ -2.516170024871826,
594
+ -0.34423592686653137,
595
+ 0.8255398869514465
596
+ ],
597
+ "cam_distance": 2.670416831970215
598
+ },
599
+ {
600
+ "frame": 31,
601
+ "take": 7,
602
+ "manipulation_level": 2,
603
+ "active_joints": [
604
+ 0,
605
+ 2
606
+ ],
607
+ "joint_positions": [
608
+ 0.8253336548805237,
609
+ -0.0
610
+ ],
611
+ "cam_pose": [
612
+ -2.516170024871826,
613
+ -0.34423592686653137,
614
+ 0.8255398869514465
615
+ ],
616
+ "cam_distance": 2.670416831970215
617
+ },
618
+ {
619
+ "frame": 32,
620
+ "take": 7,
621
+ "manipulation_level": 2,
622
+ "active_joints": [
623
+ 0,
624
+ 2
625
+ ],
626
+ "joint_positions": [
627
+ 0.8519573211669922,
628
+ -0.0
629
+ ],
630
+ "cam_pose": [
631
+ -2.516170024871826,
632
+ -0.34423592686653137,
633
+ 0.8255398869514465
634
+ ],
635
+ "cam_distance": 2.670416831970215
636
+ },
637
+ {
638
+ "frame": 33,
639
+ "take": 7,
640
+ "manipulation_level": 2,
641
+ "active_joints": [
642
+ 0,
643
+ 2
644
+ ],
645
+ "joint_positions": [
646
+ 0.8785809874534607,
647
+ -0.0
648
+ ],
649
+ "cam_pose": [
650
+ -2.516170024871826,
651
+ -0.34423592686653137,
652
+ 0.8255398869514465
653
+ ],
654
+ "cam_distance": 2.670416831970215
655
+ },
656
+ {
657
+ "frame": 34,
658
+ "take": 7,
659
+ "manipulation_level": 2,
660
+ "active_joints": [
661
+ 0,
662
+ 2
663
+ ],
664
+ "joint_positions": [
665
+ 0.9052046537399292,
666
+ -0.0
667
+ ],
668
+ "cam_pose": [
669
+ -2.516170024871826,
670
+ -0.34423592686653137,
671
+ 0.8255398869514465
672
+ ],
673
+ "cam_distance": 2.670416831970215
674
+ },
675
+ {
676
+ "frame": 35,
677
+ "take": 7,
678
+ "manipulation_level": 2,
679
+ "active_joints": [
680
+ 0,
681
+ 2
682
+ ],
683
+ "joint_positions": [
684
+ 0.9318283200263977,
685
+ -0.0
686
+ ],
687
+ "cam_pose": [
688
+ -2.516170024871826,
689
+ -0.34423592686653137,
690
+ 0.8255398869514465
691
+ ],
692
+ "cam_distance": 2.670416831970215
693
+ },
694
+ {
695
+ "frame": 36,
696
+ "take": 7,
697
+ "manipulation_level": 2,
698
+ "active_joints": [
699
+ 0,
700
+ 2
701
+ ],
702
+ "joint_positions": [
703
+ 0.9584519863128662,
704
+ -0.0
705
+ ],
706
+ "cam_pose": [
707
+ -2.516170024871826,
708
+ -0.34423592686653137,
709
+ 0.8255398869514465
710
+ ],
711
+ "cam_distance": 2.670416831970215
712
+ },
713
+ {
714
+ "frame": 37,
715
+ "take": 7,
716
+ "manipulation_level": 2,
717
+ "active_joints": [
718
+ 0,
719
+ 2
720
+ ],
721
+ "joint_positions": [
722
+ 0.9850756525993347,
723
+ -0.0
724
+ ],
725
+ "cam_pose": [
726
+ -2.516170024871826,
727
+ -0.34423592686653137,
728
+ 0.8255398869514465
729
+ ],
730
+ "cam_distance": 2.670416831970215
731
+ },
732
+ {
733
+ "frame": 38,
734
+ "take": 7,
735
+ "manipulation_level": 2,
736
+ "active_joints": [
737
+ 0,
738
+ 2
739
+ ],
740
+ "joint_positions": [
741
+ 1.0116993188858032,
742
+ -0.0
743
+ ],
744
+ "cam_pose": [
745
+ -2.516170024871826,
746
+ -0.34423592686653137,
747
+ 0.8255398869514465
748
+ ],
749
+ "cam_distance": 2.670416831970215
750
+ },
751
+ {
752
+ "frame": 39,
753
+ "take": 7,
754
+ "manipulation_level": 2,
755
+ "active_joints": [
756
+ 0,
757
+ 2
758
+ ],
759
+ "joint_positions": [
760
+ 1.0383230447769165,
761
+ -0.0
762
+ ],
763
+ "cam_pose": [
764
+ -2.516170024871826,
765
+ -0.34423592686653137,
766
+ 0.8255398869514465
767
+ ],
768
+ "cam_distance": 2.670416831970215
769
+ },
770
+ {
771
+ "frame": 40,
772
+ "take": 7,
773
+ "manipulation_level": 2,
774
+ "active_joints": [
775
+ 0,
776
+ 2
777
+ ],
778
+ "joint_positions": [
779
+ 1.0649466514587402,
780
+ -0.0
781
+ ],
782
+ "cam_pose": [
783
+ -2.516170024871826,
784
+ -0.34423592686653137,
785
+ 0.8255398869514465
786
+ ],
787
+ "cam_distance": 2.670416831970215
788
+ },
789
+ {
790
+ "frame": 41,
791
+ "take": 7,
792
+ "manipulation_level": 2,
793
+ "active_joints": [
794
+ 0,
795
+ 2
796
+ ],
797
+ "joint_positions": [
798
+ 1.0915703773498535,
799
+ -0.0
800
+ ],
801
+ "cam_pose": [
802
+ -2.516170024871826,
803
+ -0.34423592686653137,
804
+ 0.8255398869514465
805
+ ],
806
+ "cam_distance": 2.670416831970215
807
+ },
808
+ {
809
+ "frame": 42,
810
+ "take": 7,
811
+ "manipulation_level": 2,
812
+ "active_joints": [
813
+ 0,
814
+ 2
815
+ ],
816
+ "joint_positions": [
817
+ 1.1181939840316772,
818
+ -0.0
819
+ ],
820
+ "cam_pose": [
821
+ -2.516170024871826,
822
+ -0.34423592686653137,
823
+ 0.8255398869514465
824
+ ],
825
+ "cam_distance": 2.670416831970215
826
+ },
827
+ {
828
+ "frame": 43,
829
+ "take": 7,
830
+ "manipulation_level": 2,
831
+ "active_joints": [
832
+ 0,
833
+ 2
834
+ ],
835
+ "joint_positions": [
836
+ 1.1448177099227905,
837
+ -0.0
838
+ ],
839
+ "cam_pose": [
840
+ -2.516170024871826,
841
+ -0.34423592686653137,
842
+ 0.8255398869514465
843
+ ],
844
+ "cam_distance": 2.670416831970215
845
+ },
846
+ {
847
+ "frame": 44,
848
+ "take": 7,
849
+ "manipulation_level": 2,
850
+ "active_joints": [
851
+ 0,
852
+ 2
853
+ ],
854
+ "joint_positions": [
855
+ 1.1714413166046143,
856
+ -0.0
857
+ ],
858
+ "cam_pose": [
859
+ -2.516170024871826,
860
+ -0.34423592686653137,
861
+ 0.8255398869514465
862
+ ],
863
+ "cam_distance": 2.670416831970215
864
+ },
865
+ {
866
+ "frame": 45,
867
+ "take": 7,
868
+ "manipulation_level": 2,
869
+ "active_joints": [
870
+ 0,
871
+ 2
872
+ ],
873
+ "joint_positions": [
874
+ 1.1980650424957275,
875
+ -0.0
876
+ ],
877
+ "cam_pose": [
878
+ -2.516170024871826,
879
+ -0.34423592686653137,
880
+ 0.8255398869514465
881
+ ],
882
+ "cam_distance": 2.670416831970215
883
+ },
884
+ {
885
+ "frame": 46,
886
+ "take": 7,
887
+ "manipulation_level": 2,
888
+ "active_joints": [
889
+ 0,
890
+ 2
891
+ ],
892
+ "joint_positions": [
893
+ 1.2246886491775513,
894
+ -0.0
895
+ ],
896
+ "cam_pose": [
897
+ -2.516170024871826,
898
+ -0.34423592686653137,
899
+ 0.8255398869514465
900
+ ],
901
+ "cam_distance": 2.670416831970215
902
+ },
903
+ {
904
+ "frame": 47,
905
+ "take": 7,
906
+ "manipulation_level": 2,
907
+ "active_joints": [
908
+ 0,
909
+ 2
910
+ ],
911
+ "joint_positions": [
912
+ 1.2513123750686646,
913
+ -0.0
914
+ ],
915
+ "cam_pose": [
916
+ -2.516170024871826,
917
+ -0.34423592686653137,
918
+ 0.8255398869514465
919
+ ],
920
+ "cam_distance": 2.670416831970215
921
+ },
922
+ {
923
+ "frame": 48,
924
+ "take": 7,
925
+ "manipulation_level": 2,
926
+ "active_joints": [
927
+ 0,
928
+ 2
929
+ ],
930
+ "joint_positions": [
931
+ 1.2779359817504883,
932
+ -0.0
933
+ ],
934
+ "cam_pose": [
935
+ -2.516170024871826,
936
+ -0.34423592686653137,
937
+ 0.8255398869514465
938
+ ],
939
+ "cam_distance": 2.670416831970215
940
+ },
941
+ {
942
+ "frame": 49,
943
+ "take": 7,
944
+ "manipulation_level": 2,
945
+ "active_joints": [
946
+ 0,
947
+ 2
948
+ ],
949
+ "joint_positions": [
950
+ 1.3045597076416016,
951
+ -0.0
952
+ ],
953
+ "cam_pose": [
954
+ -2.516170024871826,
955
+ -0.34423592686653137,
956
+ 0.8255398869514465
957
+ ],
958
+ "cam_distance": 2.670416831970215
959
+ },
960
+ {
961
+ "frame": 50,
962
+ "take": 7,
963
+ "manipulation_level": 2,
964
+ "active_joints": [
965
+ 0,
966
+ 2
967
+ ],
968
+ "joint_positions": [
969
+ 1.3311833143234253,
970
+ -0.0
971
+ ],
972
+ "cam_pose": [
973
+ -2.516170024871826,
974
+ -0.34423592686653137,
975
+ 0.8255398869514465
976
+ ],
977
+ "cam_distance": 2.670416831970215
978
+ },
979
+ {
980
+ "frame": 51,
981
+ "take": 7,
982
+ "manipulation_level": 2,
983
+ "active_joints": [
984
+ 0,
985
+ 2
986
+ ],
987
+ "joint_positions": [
988
+ 1.3578070402145386,
989
+ -0.0
990
+ ],
991
+ "cam_pose": [
992
+ -2.516170024871826,
993
+ -0.34423592686653137,
994
+ 0.8255398869514465
995
+ ],
996
+ "cam_distance": 2.670416831970215
997
+ },
998
+ {
999
+ "frame": 52,
1000
+ "take": 7,
1001
+ "manipulation_level": 2,
1002
+ "active_joints": [
1003
+ 0,
1004
+ 2
1005
+ ],
1006
+ "joint_positions": [
1007
+ 1.3844306468963623,
1008
+ -0.0
1009
+ ],
1010
+ "cam_pose": [
1011
+ -2.516170024871826,
1012
+ -0.34423592686653137,
1013
+ 0.8255398869514465
1014
+ ],
1015
+ "cam_distance": 2.670416831970215
1016
+ },
1017
+ {
1018
+ "frame": 53,
1019
+ "take": 7,
1020
+ "manipulation_level": 2,
1021
+ "active_joints": [
1022
+ 0,
1023
+ 2
1024
+ ],
1025
+ "joint_positions": [
1026
+ 1.4110543727874756,
1027
+ -0.0
1028
+ ],
1029
+ "cam_pose": [
1030
+ -2.516170024871826,
1031
+ -0.34423592686653137,
1032
+ 0.8255398869514465
1033
+ ],
1034
+ "cam_distance": 2.670416831970215
1035
+ },
1036
+ {
1037
+ "frame": 54,
1038
+ "take": 7,
1039
+ "manipulation_level": 2,
1040
+ "active_joints": [
1041
+ 0,
1042
+ 2
1043
+ ],
1044
+ "joint_positions": [
1045
+ 1.4376779794692993,
1046
+ -0.0
1047
+ ],
1048
+ "cam_pose": [
1049
+ -2.516170024871826,
1050
+ -0.34423592686653137,
1051
+ 0.8255398869514465
1052
+ ],
1053
+ "cam_distance": 2.670416831970215
1054
+ },
1055
+ {
1056
+ "frame": 55,
1057
+ "take": 7,
1058
+ "manipulation_level": 2,
1059
+ "active_joints": [
1060
+ 0,
1061
+ 2
1062
+ ],
1063
+ "joint_positions": [
1064
+ 1.4643017053604126,
1065
+ -0.0
1066
+ ],
1067
+ "cam_pose": [
1068
+ -2.516170024871826,
1069
+ -0.34423592686653137,
1070
+ 0.8255398869514465
1071
+ ],
1072
+ "cam_distance": 2.670416831970215
1073
+ },
1074
+ {
1075
+ "frame": 56,
1076
+ "take": 7,
1077
+ "manipulation_level": 2,
1078
+ "active_joints": [
1079
+ 0,
1080
+ 2
1081
+ ],
1082
+ "joint_positions": [
1083
+ 1.4909253120422363,
1084
+ -0.0
1085
+ ],
1086
+ "cam_pose": [
1087
+ -2.516170024871826,
1088
+ -0.34423592686653137,
1089
+ 0.8255398869514465
1090
+ ],
1091
+ "cam_distance": 2.670416831970215
1092
+ },
1093
+ {
1094
+ "frame": 57,
1095
+ "take": 7,
1096
+ "manipulation_level": 2,
1097
+ "active_joints": [
1098
+ 0,
1099
+ 2
1100
+ ],
1101
+ "joint_positions": [
1102
+ 1.5175490379333496,
1103
+ -0.0
1104
+ ],
1105
+ "cam_pose": [
1106
+ -2.516170024871826,
1107
+ -0.34423592686653137,
1108
+ 0.8255398869514465
1109
+ ],
1110
+ "cam_distance": 2.670416831970215
1111
+ },
1112
+ {
1113
+ "frame": 58,
1114
+ "take": 7,
1115
+ "manipulation_level": 2,
1116
+ "active_joints": [
1117
+ 0,
1118
+ 2
1119
+ ],
1120
+ "joint_positions": [
1121
+ 1.5441726446151733,
1122
+ -0.0
1123
+ ],
1124
+ "cam_pose": [
1125
+ -2.516170024871826,
1126
+ -0.34423592686653137,
1127
+ 0.8255398869514465
1128
+ ],
1129
+ "cam_distance": 2.670416831970215
1130
+ },
1131
+ {
1132
+ "frame": 59,
1133
+ "take": 7,
1134
+ "manipulation_level": 2,
1135
+ "active_joints": [
1136
+ 0,
1137
+ 2
1138
+ ],
1139
+ "joint_positions": [
1140
+ 1.5707963705062866,
1141
+ -0.0
1142
+ ],
1143
+ "cam_pose": [
1144
+ -2.516170024871826,
1145
+ -0.34423592686653137,
1146
+ 0.8255398869514465
1147
+ ],
1148
+ "cam_distance": 2.670416831970215
1149
+ },
1150
+ {
1151
+ "frame": 60,
1152
+ "take": 7,
1153
+ "manipulation_level": 2,
1154
+ "active_joints": [
1155
+ 0,
1156
+ 2
1157
+ ],
1158
+ "joint_positions": [
1159
+ -0.0,
1160
+ 0.0
1161
+ ],
1162
+ "cam_pose": [
1163
+ -2.516170024871826,
1164
+ -0.34423592686653137,
1165
+ 0.8255398869514465
1166
+ ],
1167
+ "cam_distance": 2.670416831970215
1168
+ },
1169
+ {
1170
+ "frame": 61,
1171
+ "take": 7,
1172
+ "manipulation_level": 2,
1173
+ "active_joints": [
1174
+ 0,
1175
+ 2
1176
+ ],
1177
+ "joint_positions": [
1178
+ -0.0,
1179
+ 0.026623666286468506
1180
+ ],
1181
+ "cam_pose": [
1182
+ -2.516170024871826,
1183
+ -0.34423592686653137,
1184
+ 0.8255398869514465
1185
+ ],
1186
+ "cam_distance": 2.670416831970215
1187
+ },
1188
+ {
1189
+ "frame": 62,
1190
+ "take": 7,
1191
+ "manipulation_level": 2,
1192
+ "active_joints": [
1193
+ 0,
1194
+ 2
1195
+ ],
1196
+ "joint_positions": [
1197
+ -0.0,
1198
+ 0.05324733257293701
1199
+ ],
1200
+ "cam_pose": [
1201
+ -2.516170024871826,
1202
+ -0.34423592686653137,
1203
+ 0.8255398869514465
1204
+ ],
1205
+ "cam_distance": 2.670416831970215
1206
+ },
1207
+ {
1208
+ "frame": 63,
1209
+ "take": 7,
1210
+ "manipulation_level": 2,
1211
+ "active_joints": [
1212
+ 0,
1213
+ 2
1214
+ ],
1215
+ "joint_positions": [
1216
+ -0.0,
1217
+ 0.07987099885940552
1218
+ ],
1219
+ "cam_pose": [
1220
+ -2.516170024871826,
1221
+ -0.34423592686653137,
1222
+ 0.8255398869514465
1223
+ ],
1224
+ "cam_distance": 2.670416831970215
1225
+ },
1226
+ {
1227
+ "frame": 64,
1228
+ "take": 7,
1229
+ "manipulation_level": 2,
1230
+ "active_joints": [
1231
+ 0,
1232
+ 2
1233
+ ],
1234
+ "joint_positions": [
1235
+ -0.0,
1236
+ 0.10649466514587402
1237
+ ],
1238
+ "cam_pose": [
1239
+ -2.516170024871826,
1240
+ -0.34423592686653137,
1241
+ 0.8255398869514465
1242
+ ],
1243
+ "cam_distance": 2.670416831970215
1244
+ },
1245
+ {
1246
+ "frame": 65,
1247
+ "take": 7,
1248
+ "manipulation_level": 2,
1249
+ "active_joints": [
1250
+ 0,
1251
+ 2
1252
+ ],
1253
+ "joint_positions": [
1254
+ -0.0,
1255
+ 0.13311833143234253
1256
+ ],
1257
+ "cam_pose": [
1258
+ -2.516170024871826,
1259
+ -0.34423592686653137,
1260
+ 0.8255398869514465
1261
+ ],
1262
+ "cam_distance": 2.670416831970215
1263
+ },
1264
+ {
1265
+ "frame": 66,
1266
+ "take": 7,
1267
+ "manipulation_level": 2,
1268
+ "active_joints": [
1269
+ 0,
1270
+ 2
1271
+ ],
1272
+ "joint_positions": [
1273
+ -0.0,
1274
+ 0.15974199771881104
1275
+ ],
1276
+ "cam_pose": [
1277
+ -2.516170024871826,
1278
+ -0.34423592686653137,
1279
+ 0.8255398869514465
1280
+ ],
1281
+ "cam_distance": 2.670416831970215
1282
+ },
1283
+ {
1284
+ "frame": 67,
1285
+ "take": 7,
1286
+ "manipulation_level": 2,
1287
+ "active_joints": [
1288
+ 0,
1289
+ 2
1290
+ ],
1291
+ "joint_positions": [
1292
+ -0.0,
1293
+ 0.18636566400527954
1294
+ ],
1295
+ "cam_pose": [
1296
+ -2.516170024871826,
1297
+ -0.34423592686653137,
1298
+ 0.8255398869514465
1299
+ ],
1300
+ "cam_distance": 2.670416831970215
1301
+ },
1302
+ {
1303
+ "frame": 68,
1304
+ "take": 7,
1305
+ "manipulation_level": 2,
1306
+ "active_joints": [
1307
+ 0,
1308
+ 2
1309
+ ],
1310
+ "joint_positions": [
1311
+ -0.0,
1312
+ 0.21298933029174805
1313
+ ],
1314
+ "cam_pose": [
1315
+ -2.516170024871826,
1316
+ -0.34423592686653137,
1317
+ 0.8255398869514465
1318
+ ],
1319
+ "cam_distance": 2.670416831970215
1320
+ },
1321
+ {
1322
+ "frame": 69,
1323
+ "take": 7,
1324
+ "manipulation_level": 2,
1325
+ "active_joints": [
1326
+ 0,
1327
+ 2
1328
+ ],
1329
+ "joint_positions": [
1330
+ -0.0,
1331
+ 0.23961299657821655
1332
+ ],
1333
+ "cam_pose": [
1334
+ -2.516170024871826,
1335
+ -0.34423592686653137,
1336
+ 0.8255398869514465
1337
+ ],
1338
+ "cam_distance": 2.670416831970215
1339
+ },
1340
+ {
1341
+ "frame": 70,
1342
+ "take": 7,
1343
+ "manipulation_level": 2,
1344
+ "active_joints": [
1345
+ 0,
1346
+ 2
1347
+ ],
1348
+ "joint_positions": [
1349
+ -0.0,
1350
+ 0.26623666286468506
1351
+ ],
1352
+ "cam_pose": [
1353
+ -2.516170024871826,
1354
+ -0.34423592686653137,
1355
+ 0.8255398869514465
1356
+ ],
1357
+ "cam_distance": 2.670416831970215
1358
+ },
1359
+ {
1360
+ "frame": 71,
1361
+ "take": 7,
1362
+ "manipulation_level": 2,
1363
+ "active_joints": [
1364
+ 0,
1365
+ 2
1366
+ ],
1367
+ "joint_positions": [
1368
+ -0.0,
1369
+ 0.29286032915115356
1370
+ ],
1371
+ "cam_pose": [
1372
+ -2.516170024871826,
1373
+ -0.34423592686653137,
1374
+ 0.8255398869514465
1375
+ ],
1376
+ "cam_distance": 2.670416831970215
1377
+ },
1378
+ {
1379
+ "frame": 72,
1380
+ "take": 7,
1381
+ "manipulation_level": 2,
1382
+ "active_joints": [
1383
+ 0,
1384
+ 2
1385
+ ],
1386
+ "joint_positions": [
1387
+ -0.0,
1388
+ 0.31948399543762207
1389
+ ],
1390
+ "cam_pose": [
1391
+ -2.516170024871826,
1392
+ -0.34423592686653137,
1393
+ 0.8255398869514465
1394
+ ],
1395
+ "cam_distance": 2.670416831970215
1396
+ },
1397
+ {
1398
+ "frame": 73,
1399
+ "take": 7,
1400
+ "manipulation_level": 2,
1401
+ "active_joints": [
1402
+ 0,
1403
+ 2
1404
+ ],
1405
+ "joint_positions": [
1406
+ -0.0,
1407
+ 0.3461076617240906
1408
+ ],
1409
+ "cam_pose": [
1410
+ -2.516170024871826,
1411
+ -0.34423592686653137,
1412
+ 0.8255398869514465
1413
+ ],
1414
+ "cam_distance": 2.670416831970215
1415
+ },
1416
+ {
1417
+ "frame": 74,
1418
+ "take": 7,
1419
+ "manipulation_level": 2,
1420
+ "active_joints": [
1421
+ 0,
1422
+ 2
1423
+ ],
1424
+ "joint_positions": [
1425
+ -0.0,
1426
+ 0.3727313280105591
1427
+ ],
1428
+ "cam_pose": [
1429
+ -2.516170024871826,
1430
+ -0.34423592686653137,
1431
+ 0.8255398869514465
1432
+ ],
1433
+ "cam_distance": 2.670416831970215
1434
+ },
1435
+ {
1436
+ "frame": 75,
1437
+ "take": 7,
1438
+ "manipulation_level": 2,
1439
+ "active_joints": [
1440
+ 0,
1441
+ 2
1442
+ ],
1443
+ "joint_positions": [
1444
+ -0.0,
1445
+ 0.3993549942970276
1446
+ ],
1447
+ "cam_pose": [
1448
+ -2.516170024871826,
1449
+ -0.34423592686653137,
1450
+ 0.8255398869514465
1451
+ ],
1452
+ "cam_distance": 2.670416831970215
1453
+ },
1454
+ {
1455
+ "frame": 76,
1456
+ "take": 7,
1457
+ "manipulation_level": 2,
1458
+ "active_joints": [
1459
+ 0,
1460
+ 2
1461
+ ],
1462
+ "joint_positions": [
1463
+ -0.0,
1464
+ 0.4259786605834961
1465
+ ],
1466
+ "cam_pose": [
1467
+ -2.516170024871826,
1468
+ -0.34423592686653137,
1469
+ 0.8255398869514465
1470
+ ],
1471
+ "cam_distance": 2.670416831970215
1472
+ },
1473
+ {
1474
+ "frame": 77,
1475
+ "take": 7,
1476
+ "manipulation_level": 2,
1477
+ "active_joints": [
1478
+ 0,
1479
+ 2
1480
+ ],
1481
+ "joint_positions": [
1482
+ -0.0,
1483
+ 0.4526023268699646
1484
+ ],
1485
+ "cam_pose": [
1486
+ -2.516170024871826,
1487
+ -0.34423592686653137,
1488
+ 0.8255398869514465
1489
+ ],
1490
+ "cam_distance": 2.670416831970215
1491
+ },
1492
+ {
1493
+ "frame": 78,
1494
+ "take": 7,
1495
+ "manipulation_level": 2,
1496
+ "active_joints": [
1497
+ 0,
1498
+ 2
1499
+ ],
1500
+ "joint_positions": [
1501
+ -0.0,
1502
+ 0.4792259931564331
1503
+ ],
1504
+ "cam_pose": [
1505
+ -2.516170024871826,
1506
+ -0.34423592686653137,
1507
+ 0.8255398869514465
1508
+ ],
1509
+ "cam_distance": 2.670416831970215
1510
+ },
1511
+ {
1512
+ "frame": 79,
1513
+ "take": 7,
1514
+ "manipulation_level": 2,
1515
+ "active_joints": [
1516
+ 0,
1517
+ 2
1518
+ ],
1519
+ "joint_positions": [
1520
+ -0.0,
1521
+ 0.5058496594429016
1522
+ ],
1523
+ "cam_pose": [
1524
+ -2.516170024871826,
1525
+ -0.34423592686653137,
1526
+ 0.8255398869514465
1527
+ ],
1528
+ "cam_distance": 2.670416831970215
1529
+ },
1530
+ {
1531
+ "frame": 80,
1532
+ "take": 7,
1533
+ "manipulation_level": 2,
1534
+ "active_joints": [
1535
+ 0,
1536
+ 2
1537
+ ],
1538
+ "joint_positions": [
1539
+ -0.0,
1540
+ 0.5324733257293701
1541
+ ],
1542
+ "cam_pose": [
1543
+ -2.516170024871826,
1544
+ -0.34423592686653137,
1545
+ 0.8255398869514465
1546
+ ],
1547
+ "cam_distance": 2.670416831970215
1548
+ },
1549
+ {
1550
+ "frame": 81,
1551
+ "take": 7,
1552
+ "manipulation_level": 2,
1553
+ "active_joints": [
1554
+ 0,
1555
+ 2
1556
+ ],
1557
+ "joint_positions": [
1558
+ -0.0,
1559
+ 0.5590969920158386
1560
+ ],
1561
+ "cam_pose": [
1562
+ -2.516170024871826,
1563
+ -0.34423592686653137,
1564
+ 0.8255398869514465
1565
+ ],
1566
+ "cam_distance": 2.670416831970215
1567
+ },
1568
+ {
1569
+ "frame": 82,
1570
+ "take": 7,
1571
+ "manipulation_level": 2,
1572
+ "active_joints": [
1573
+ 0,
1574
+ 2
1575
+ ],
1576
+ "joint_positions": [
1577
+ -0.0,
1578
+ 0.5857206583023071
1579
+ ],
1580
+ "cam_pose": [
1581
+ -2.516170024871826,
1582
+ -0.34423592686653137,
1583
+ 0.8255398869514465
1584
+ ],
1585
+ "cam_distance": 2.670416831970215
1586
+ },
1587
+ {
1588
+ "frame": 83,
1589
+ "take": 7,
1590
+ "manipulation_level": 2,
1591
+ "active_joints": [
1592
+ 0,
1593
+ 2
1594
+ ],
1595
+ "joint_positions": [
1596
+ -0.0,
1597
+ 0.6123443245887756
1598
+ ],
1599
+ "cam_pose": [
1600
+ -2.516170024871826,
1601
+ -0.34423592686653137,
1602
+ 0.8255398869514465
1603
+ ],
1604
+ "cam_distance": 2.670416831970215
1605
+ },
1606
+ {
1607
+ "frame": 84,
1608
+ "take": 7,
1609
+ "manipulation_level": 2,
1610
+ "active_joints": [
1611
+ 0,
1612
+ 2
1613
+ ],
1614
+ "joint_positions": [
1615
+ -0.0,
1616
+ 0.6389679908752441
1617
+ ],
1618
+ "cam_pose": [
1619
+ -2.516170024871826,
1620
+ -0.34423592686653137,
1621
+ 0.8255398869514465
1622
+ ],
1623
+ "cam_distance": 2.670416831970215
1624
+ },
1625
+ {
1626
+ "frame": 85,
1627
+ "take": 7,
1628
+ "manipulation_level": 2,
1629
+ "active_joints": [
1630
+ 0,
1631
+ 2
1632
+ ],
1633
+ "joint_positions": [
1634
+ -0.0,
1635
+ 0.6655916571617126
1636
+ ],
1637
+ "cam_pose": [
1638
+ -2.516170024871826,
1639
+ -0.34423592686653137,
1640
+ 0.8255398869514465
1641
+ ],
1642
+ "cam_distance": 2.670416831970215
1643
+ },
1644
+ {
1645
+ "frame": 86,
1646
+ "take": 7,
1647
+ "manipulation_level": 2,
1648
+ "active_joints": [
1649
+ 0,
1650
+ 2
1651
+ ],
1652
+ "joint_positions": [
1653
+ -0.0,
1654
+ 0.6922153234481812
1655
+ ],
1656
+ "cam_pose": [
1657
+ -2.516170024871826,
1658
+ -0.34423592686653137,
1659
+ 0.8255398869514465
1660
+ ],
1661
+ "cam_distance": 2.670416831970215
1662
+ },
1663
+ {
1664
+ "frame": 87,
1665
+ "take": 7,
1666
+ "manipulation_level": 2,
1667
+ "active_joints": [
1668
+ 0,
1669
+ 2
1670
+ ],
1671
+ "joint_positions": [
1672
+ -0.0,
1673
+ 0.7188389897346497
1674
+ ],
1675
+ "cam_pose": [
1676
+ -2.516170024871826,
1677
+ -0.34423592686653137,
1678
+ 0.8255398869514465
1679
+ ],
1680
+ "cam_distance": 2.670416831970215
1681
+ },
1682
+ {
1683
+ "frame": 88,
1684
+ "take": 7,
1685
+ "manipulation_level": 2,
1686
+ "active_joints": [
1687
+ 0,
1688
+ 2
1689
+ ],
1690
+ "joint_positions": [
1691
+ -0.0,
1692
+ 0.7454626560211182
1693
+ ],
1694
+ "cam_pose": [
1695
+ -2.516170024871826,
1696
+ -0.34423592686653137,
1697
+ 0.8255398869514465
1698
+ ],
1699
+ "cam_distance": 2.670416831970215
1700
+ },
1701
+ {
1702
+ "frame": 89,
1703
+ "take": 7,
1704
+ "manipulation_level": 2,
1705
+ "active_joints": [
1706
+ 0,
1707
+ 2
1708
+ ],
1709
+ "joint_positions": [
1710
+ -0.0,
1711
+ 0.7720863223075867
1712
+ ],
1713
+ "cam_pose": [
1714
+ -2.516170024871826,
1715
+ -0.34423592686653137,
1716
+ 0.8255398869514465
1717
+ ],
1718
+ "cam_distance": 2.670416831970215
1719
+ },
1720
+ {
1721
+ "frame": 90,
1722
+ "take": 7,
1723
+ "manipulation_level": 2,
1724
+ "active_joints": [
1725
+ 0,
1726
+ 2
1727
+ ],
1728
+ "joint_positions": [
1729
+ -0.0,
1730
+ 0.7987099885940552
1731
+ ],
1732
+ "cam_pose": [
1733
+ -2.516170024871826,
1734
+ -0.34423592686653137,
1735
+ 0.8255398869514465
1736
+ ],
1737
+ "cam_distance": 2.670416831970215
1738
+ },
1739
+ {
1740
+ "frame": 91,
1741
+ "take": 7,
1742
+ "manipulation_level": 2,
1743
+ "active_joints": [
1744
+ 0,
1745
+ 2
1746
+ ],
1747
+ "joint_positions": [
1748
+ -0.0,
1749
+ 0.8253336548805237
1750
+ ],
1751
+ "cam_pose": [
1752
+ -2.516170024871826,
1753
+ -0.34423592686653137,
1754
+ 0.8255398869514465
1755
+ ],
1756
+ "cam_distance": 2.670416831970215
1757
+ },
1758
+ {
1759
+ "frame": 92,
1760
+ "take": 7,
1761
+ "manipulation_level": 2,
1762
+ "active_joints": [
1763
+ 0,
1764
+ 2
1765
+ ],
1766
+ "joint_positions": [
1767
+ -0.0,
1768
+ 0.8519573211669922
1769
+ ],
1770
+ "cam_pose": [
1771
+ -2.516170024871826,
1772
+ -0.34423592686653137,
1773
+ 0.8255398869514465
1774
+ ],
1775
+ "cam_distance": 2.670416831970215
1776
+ },
1777
+ {
1778
+ "frame": 93,
1779
+ "take": 7,
1780
+ "manipulation_level": 2,
1781
+ "active_joints": [
1782
+ 0,
1783
+ 2
1784
+ ],
1785
+ "joint_positions": [
1786
+ -0.0,
1787
+ 0.8785809874534607
1788
+ ],
1789
+ "cam_pose": [
1790
+ -2.516170024871826,
1791
+ -0.34423592686653137,
1792
+ 0.8255398869514465
1793
+ ],
1794
+ "cam_distance": 2.670416831970215
1795
+ },
1796
+ {
1797
+ "frame": 94,
1798
+ "take": 7,
1799
+ "manipulation_level": 2,
1800
+ "active_joints": [
1801
+ 0,
1802
+ 2
1803
+ ],
1804
+ "joint_positions": [
1805
+ -0.0,
1806
+ 0.9052046537399292
1807
+ ],
1808
+ "cam_pose": [
1809
+ -2.516170024871826,
1810
+ -0.34423592686653137,
1811
+ 0.8255398869514465
1812
+ ],
1813
+ "cam_distance": 2.670416831970215
1814
+ },
1815
+ {
1816
+ "frame": 95,
1817
+ "take": 7,
1818
+ "manipulation_level": 2,
1819
+ "active_joints": [
1820
+ 0,
1821
+ 2
1822
+ ],
1823
+ "joint_positions": [
1824
+ -0.0,
1825
+ 0.9318283200263977
1826
+ ],
1827
+ "cam_pose": [
1828
+ -2.516170024871826,
1829
+ -0.34423592686653137,
1830
+ 0.8255398869514465
1831
+ ],
1832
+ "cam_distance": 2.670416831970215
1833
+ },
1834
+ {
1835
+ "frame": 96,
1836
+ "take": 7,
1837
+ "manipulation_level": 2,
1838
+ "active_joints": [
1839
+ 0,
1840
+ 2
1841
+ ],
1842
+ "joint_positions": [
1843
+ -0.0,
1844
+ 0.9584519863128662
1845
+ ],
1846
+ "cam_pose": [
1847
+ -2.516170024871826,
1848
+ -0.34423592686653137,
1849
+ 0.8255398869514465
1850
+ ],
1851
+ "cam_distance": 2.670416831970215
1852
+ },
1853
+ {
1854
+ "frame": 97,
1855
+ "take": 7,
1856
+ "manipulation_level": 2,
1857
+ "active_joints": [
1858
+ 0,
1859
+ 2
1860
+ ],
1861
+ "joint_positions": [
1862
+ -0.0,
1863
+ 0.9850756525993347
1864
+ ],
1865
+ "cam_pose": [
1866
+ -2.516170024871826,
1867
+ -0.34423592686653137,
1868
+ 0.8255398869514465
1869
+ ],
1870
+ "cam_distance": 2.670416831970215
1871
+ },
1872
+ {
1873
+ "frame": 98,
1874
+ "take": 7,
1875
+ "manipulation_level": 2,
1876
+ "active_joints": [
1877
+ 0,
1878
+ 2
1879
+ ],
1880
+ "joint_positions": [
1881
+ -0.0,
1882
+ 1.0116993188858032
1883
+ ],
1884
+ "cam_pose": [
1885
+ -2.516170024871826,
1886
+ -0.34423592686653137,
1887
+ 0.8255398869514465
1888
+ ],
1889
+ "cam_distance": 2.670416831970215
1890
+ },
1891
+ {
1892
+ "frame": 99,
1893
+ "take": 7,
1894
+ "manipulation_level": 2,
1895
+ "active_joints": [
1896
+ 0,
1897
+ 2
1898
+ ],
1899
+ "joint_positions": [
1900
+ -0.0,
1901
+ 1.0383230447769165
1902
+ ],
1903
+ "cam_pose": [
1904
+ -2.516170024871826,
1905
+ -0.34423592686653137,
1906
+ 0.8255398869514465
1907
+ ],
1908
+ "cam_distance": 2.670416831970215
1909
+ },
1910
+ {
1911
+ "frame": 100,
1912
+ "take": 7,
1913
+ "manipulation_level": 2,
1914
+ "active_joints": [
1915
+ 0,
1916
+ 2
1917
+ ],
1918
+ "joint_positions": [
1919
+ -0.0,
1920
+ 1.0649466514587402
1921
+ ],
1922
+ "cam_pose": [
1923
+ -2.516170024871826,
1924
+ -0.34423592686653137,
1925
+ 0.8255398869514465
1926
+ ],
1927
+ "cam_distance": 2.670416831970215
1928
+ },
1929
+ {
1930
+ "frame": 101,
1931
+ "take": 7,
1932
+ "manipulation_level": 2,
1933
+ "active_joints": [
1934
+ 0,
1935
+ 2
1936
+ ],
1937
+ "joint_positions": [
1938
+ -0.0,
1939
+ 1.0915703773498535
1940
+ ],
1941
+ "cam_pose": [
1942
+ -2.516170024871826,
1943
+ -0.34423592686653137,
1944
+ 0.8255398869514465
1945
+ ],
1946
+ "cam_distance": 2.670416831970215
1947
+ },
1948
+ {
1949
+ "frame": 102,
1950
+ "take": 7,
1951
+ "manipulation_level": 2,
1952
+ "active_joints": [
1953
+ 0,
1954
+ 2
1955
+ ],
1956
+ "joint_positions": [
1957
+ -0.0,
1958
+ 1.1181939840316772
1959
+ ],
1960
+ "cam_pose": [
1961
+ -2.516170024871826,
1962
+ -0.34423592686653137,
1963
+ 0.8255398869514465
1964
+ ],
1965
+ "cam_distance": 2.670416831970215
1966
+ },
1967
+ {
1968
+ "frame": 103,
1969
+ "take": 7,
1970
+ "manipulation_level": 2,
1971
+ "active_joints": [
1972
+ 0,
1973
+ 2
1974
+ ],
1975
+ "joint_positions": [
1976
+ -0.0,
1977
+ 1.1448177099227905
1978
+ ],
1979
+ "cam_pose": [
1980
+ -2.516170024871826,
1981
+ -0.34423592686653137,
1982
+ 0.8255398869514465
1983
+ ],
1984
+ "cam_distance": 2.670416831970215
1985
+ },
1986
+ {
1987
+ "frame": 104,
1988
+ "take": 7,
1989
+ "manipulation_level": 2,
1990
+ "active_joints": [
1991
+ 0,
1992
+ 2
1993
+ ],
1994
+ "joint_positions": [
1995
+ -0.0,
1996
+ 1.1714413166046143
1997
+ ],
1998
+ "cam_pose": [
1999
+ -2.516170024871826,
2000
+ -0.34423592686653137,
2001
+ 0.8255398869514465
2002
+ ],
2003
+ "cam_distance": 2.670416831970215
2004
+ },
2005
+ {
2006
+ "frame": 105,
2007
+ "take": 7,
2008
+ "manipulation_level": 2,
2009
+ "active_joints": [
2010
+ 0,
2011
+ 2
2012
+ ],
2013
+ "joint_positions": [
2014
+ -0.0,
2015
+ 1.1980650424957275
2016
+ ],
2017
+ "cam_pose": [
2018
+ -2.516170024871826,
2019
+ -0.34423592686653137,
2020
+ 0.8255398869514465
2021
+ ],
2022
+ "cam_distance": 2.670416831970215
2023
+ },
2024
+ {
2025
+ "frame": 106,
2026
+ "take": 7,
2027
+ "manipulation_level": 2,
2028
+ "active_joints": [
2029
+ 0,
2030
+ 2
2031
+ ],
2032
+ "joint_positions": [
2033
+ -0.0,
2034
+ 1.2246886491775513
2035
+ ],
2036
+ "cam_pose": [
2037
+ -2.516170024871826,
2038
+ -0.34423592686653137,
2039
+ 0.8255398869514465
2040
+ ],
2041
+ "cam_distance": 2.670416831970215
2042
+ },
2043
+ {
2044
+ "frame": 107,
2045
+ "take": 7,
2046
+ "manipulation_level": 2,
2047
+ "active_joints": [
2048
+ 0,
2049
+ 2
2050
+ ],
2051
+ "joint_positions": [
2052
+ -0.0,
2053
+ 1.2513123750686646
2054
+ ],
2055
+ "cam_pose": [
2056
+ -2.516170024871826,
2057
+ -0.34423592686653137,
2058
+ 0.8255398869514465
2059
+ ],
2060
+ "cam_distance": 2.670416831970215
2061
+ },
2062
+ {
2063
+ "frame": 108,
2064
+ "take": 7,
2065
+ "manipulation_level": 2,
2066
+ "active_joints": [
2067
+ 0,
2068
+ 2
2069
+ ],
2070
+ "joint_positions": [
2071
+ -0.0,
2072
+ 1.2779359817504883
2073
+ ],
2074
+ "cam_pose": [
2075
+ -2.516170024871826,
2076
+ -0.34423592686653137,
2077
+ 0.8255398869514465
2078
+ ],
2079
+ "cam_distance": 2.670416831970215
2080
+ },
2081
+ {
2082
+ "frame": 109,
2083
+ "take": 7,
2084
+ "manipulation_level": 2,
2085
+ "active_joints": [
2086
+ 0,
2087
+ 2
2088
+ ],
2089
+ "joint_positions": [
2090
+ -0.0,
2091
+ 1.3045597076416016
2092
+ ],
2093
+ "cam_pose": [
2094
+ -2.516170024871826,
2095
+ -0.34423592686653137,
2096
+ 0.8255398869514465
2097
+ ],
2098
+ "cam_distance": 2.670416831970215
2099
+ },
2100
+ {
2101
+ "frame": 110,
2102
+ "take": 7,
2103
+ "manipulation_level": 2,
2104
+ "active_joints": [
2105
+ 0,
2106
+ 2
2107
+ ],
2108
+ "joint_positions": [
2109
+ -0.0,
2110
+ 1.3311833143234253
2111
+ ],
2112
+ "cam_pose": [
2113
+ -2.516170024871826,
2114
+ -0.34423592686653137,
2115
+ 0.8255398869514465
2116
+ ],
2117
+ "cam_distance": 2.670416831970215
2118
+ },
2119
+ {
2120
+ "frame": 111,
2121
+ "take": 7,
2122
+ "manipulation_level": 2,
2123
+ "active_joints": [
2124
+ 0,
2125
+ 2
2126
+ ],
2127
+ "joint_positions": [
2128
+ -0.0,
2129
+ 1.3578070402145386
2130
+ ],
2131
+ "cam_pose": [
2132
+ -2.516170024871826,
2133
+ -0.34423592686653137,
2134
+ 0.8255398869514465
2135
+ ],
2136
+ "cam_distance": 2.670416831970215
2137
+ },
2138
+ {
2139
+ "frame": 112,
2140
+ "take": 7,
2141
+ "manipulation_level": 2,
2142
+ "active_joints": [
2143
+ 0,
2144
+ 2
2145
+ ],
2146
+ "joint_positions": [
2147
+ -0.0,
2148
+ 1.3844306468963623
2149
+ ],
2150
+ "cam_pose": [
2151
+ -2.516170024871826,
2152
+ -0.34423592686653137,
2153
+ 0.8255398869514465
2154
+ ],
2155
+ "cam_distance": 2.670416831970215
2156
+ },
2157
+ {
2158
+ "frame": 113,
2159
+ "take": 7,
2160
+ "manipulation_level": 2,
2161
+ "active_joints": [
2162
+ 0,
2163
+ 2
2164
+ ],
2165
+ "joint_positions": [
2166
+ -0.0,
2167
+ 1.4110543727874756
2168
+ ],
2169
+ "cam_pose": [
2170
+ -2.516170024871826,
2171
+ -0.34423592686653137,
2172
+ 0.8255398869514465
2173
+ ],
2174
+ "cam_distance": 2.670416831970215
2175
+ },
2176
+ {
2177
+ "frame": 114,
2178
+ "take": 7,
2179
+ "manipulation_level": 2,
2180
+ "active_joints": [
2181
+ 0,
2182
+ 2
2183
+ ],
2184
+ "joint_positions": [
2185
+ -0.0,
2186
+ 1.4376779794692993
2187
+ ],
2188
+ "cam_pose": [
2189
+ -2.516170024871826,
2190
+ -0.34423592686653137,
2191
+ 0.8255398869514465
2192
+ ],
2193
+ "cam_distance": 2.670416831970215
2194
+ },
2195
+ {
2196
+ "frame": 115,
2197
+ "take": 7,
2198
+ "manipulation_level": 2,
2199
+ "active_joints": [
2200
+ 0,
2201
+ 2
2202
+ ],
2203
+ "joint_positions": [
2204
+ -0.0,
2205
+ 1.4643017053604126
2206
+ ],
2207
+ "cam_pose": [
2208
+ -2.516170024871826,
2209
+ -0.34423592686653137,
2210
+ 0.8255398869514465
2211
+ ],
2212
+ "cam_distance": 2.670416831970215
2213
+ },
2214
+ {
2215
+ "frame": 116,
2216
+ "take": 7,
2217
+ "manipulation_level": 2,
2218
+ "active_joints": [
2219
+ 0,
2220
+ 2
2221
+ ],
2222
+ "joint_positions": [
2223
+ -0.0,
2224
+ 1.4909253120422363
2225
+ ],
2226
+ "cam_pose": [
2227
+ -2.516170024871826,
2228
+ -0.34423592686653137,
2229
+ 0.8255398869514465
2230
+ ],
2231
+ "cam_distance": 2.670416831970215
2232
+ },
2233
+ {
2234
+ "frame": 117,
2235
+ "take": 7,
2236
+ "manipulation_level": 2,
2237
+ "active_joints": [
2238
+ 0,
2239
+ 2
2240
+ ],
2241
+ "joint_positions": [
2242
+ -0.0,
2243
+ 1.5175490379333496
2244
+ ],
2245
+ "cam_pose": [
2246
+ -2.516170024871826,
2247
+ -0.34423592686653137,
2248
+ 0.8255398869514465
2249
+ ],
2250
+ "cam_distance": 2.670416831970215
2251
+ },
2252
+ {
2253
+ "frame": 118,
2254
+ "take": 7,
2255
+ "manipulation_level": 2,
2256
+ "active_joints": [
2257
+ 0,
2258
+ 2
2259
+ ],
2260
+ "joint_positions": [
2261
+ -0.0,
2262
+ 1.5441726446151733
2263
+ ],
2264
+ "cam_pose": [
2265
+ -2.516170024871826,
2266
+ -0.34423592686653137,
2267
+ 0.8255398869514465
2268
+ ],
2269
+ "cam_distance": 2.670416831970215
2270
+ },
2271
+ {
2272
+ "frame": 119,
2273
+ "take": 7,
2274
+ "manipulation_level": 2,
2275
+ "active_joints": [
2276
+ 0,
2277
+ 2
2278
+ ],
2279
+ "joint_positions": [
2280
+ -0.0,
2281
+ 1.5707963705062866
2282
+ ],
2283
+ "cam_pose": [
2284
+ -2.516170024871826,
2285
+ -0.34423592686653137,
2286
+ 0.8255398869514465
2287
+ ],
2288
+ "cam_distance": 2.670416831970215
2289
+ }
2290
+ ]
2291
+ }
41003/take_08/metadata.json ADDED
@@ -0,0 +1,2291 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object_id": "41003",
3
+ "manipulation_level": 2,
4
+ "active_joints": [
5
+ 0,
6
+ 2
7
+ ],
8
+ "total_joints": 4,
9
+ "frames": [
10
+ {
11
+ "frame": 0,
12
+ "take": 8,
13
+ "manipulation_level": 2,
14
+ "active_joints": [
15
+ 0,
16
+ 2
17
+ ],
18
+ "joint_positions": [
19
+ 0.0,
20
+ -0.0
21
+ ],
22
+ "cam_pose": [
23
+ -2.4222359657287598,
24
+ -0.16418777406215668,
25
+ 0.6312509179115295
26
+ ],
27
+ "cam_distance": 2.5085179805755615
28
+ },
29
+ {
30
+ "frame": 1,
31
+ "take": 8,
32
+ "manipulation_level": 2,
33
+ "active_joints": [
34
+ 0,
35
+ 2
36
+ ],
37
+ "joint_positions": [
38
+ 0.026623666286468506,
39
+ -0.0
40
+ ],
41
+ "cam_pose": [
42
+ -2.4222359657287598,
43
+ -0.16418777406215668,
44
+ 0.6312509179115295
45
+ ],
46
+ "cam_distance": 2.5085179805755615
47
+ },
48
+ {
49
+ "frame": 2,
50
+ "take": 8,
51
+ "manipulation_level": 2,
52
+ "active_joints": [
53
+ 0,
54
+ 2
55
+ ],
56
+ "joint_positions": [
57
+ 0.05324733257293701,
58
+ -0.0
59
+ ],
60
+ "cam_pose": [
61
+ -2.4222359657287598,
62
+ -0.16418777406215668,
63
+ 0.6312509179115295
64
+ ],
65
+ "cam_distance": 2.5085179805755615
66
+ },
67
+ {
68
+ "frame": 3,
69
+ "take": 8,
70
+ "manipulation_level": 2,
71
+ "active_joints": [
72
+ 0,
73
+ 2
74
+ ],
75
+ "joint_positions": [
76
+ 0.07987099885940552,
77
+ -0.0
78
+ ],
79
+ "cam_pose": [
80
+ -2.4222359657287598,
81
+ -0.16418777406215668,
82
+ 0.6312509179115295
83
+ ],
84
+ "cam_distance": 2.5085179805755615
85
+ },
86
+ {
87
+ "frame": 4,
88
+ "take": 8,
89
+ "manipulation_level": 2,
90
+ "active_joints": [
91
+ 0,
92
+ 2
93
+ ],
94
+ "joint_positions": [
95
+ 0.10649466514587402,
96
+ -0.0
97
+ ],
98
+ "cam_pose": [
99
+ -2.4222359657287598,
100
+ -0.16418777406215668,
101
+ 0.6312509179115295
102
+ ],
103
+ "cam_distance": 2.5085179805755615
104
+ },
105
+ {
106
+ "frame": 5,
107
+ "take": 8,
108
+ "manipulation_level": 2,
109
+ "active_joints": [
110
+ 0,
111
+ 2
112
+ ],
113
+ "joint_positions": [
114
+ 0.13311833143234253,
115
+ -0.0
116
+ ],
117
+ "cam_pose": [
118
+ -2.4222359657287598,
119
+ -0.16418777406215668,
120
+ 0.6312509179115295
121
+ ],
122
+ "cam_distance": 2.5085179805755615
123
+ },
124
+ {
125
+ "frame": 6,
126
+ "take": 8,
127
+ "manipulation_level": 2,
128
+ "active_joints": [
129
+ 0,
130
+ 2
131
+ ],
132
+ "joint_positions": [
133
+ 0.15974199771881104,
134
+ -0.0
135
+ ],
136
+ "cam_pose": [
137
+ -2.4222359657287598,
138
+ -0.16418777406215668,
139
+ 0.6312509179115295
140
+ ],
141
+ "cam_distance": 2.5085179805755615
142
+ },
143
+ {
144
+ "frame": 7,
145
+ "take": 8,
146
+ "manipulation_level": 2,
147
+ "active_joints": [
148
+ 0,
149
+ 2
150
+ ],
151
+ "joint_positions": [
152
+ 0.18636566400527954,
153
+ -0.0
154
+ ],
155
+ "cam_pose": [
156
+ -2.4222359657287598,
157
+ -0.16418777406215668,
158
+ 0.6312509179115295
159
+ ],
160
+ "cam_distance": 2.5085179805755615
161
+ },
162
+ {
163
+ "frame": 8,
164
+ "take": 8,
165
+ "manipulation_level": 2,
166
+ "active_joints": [
167
+ 0,
168
+ 2
169
+ ],
170
+ "joint_positions": [
171
+ 0.21298933029174805,
172
+ -0.0
173
+ ],
174
+ "cam_pose": [
175
+ -2.4222359657287598,
176
+ -0.16418777406215668,
177
+ 0.6312509179115295
178
+ ],
179
+ "cam_distance": 2.5085179805755615
180
+ },
181
+ {
182
+ "frame": 9,
183
+ "take": 8,
184
+ "manipulation_level": 2,
185
+ "active_joints": [
186
+ 0,
187
+ 2
188
+ ],
189
+ "joint_positions": [
190
+ 0.23961299657821655,
191
+ -0.0
192
+ ],
193
+ "cam_pose": [
194
+ -2.4222359657287598,
195
+ -0.16418777406215668,
196
+ 0.6312509179115295
197
+ ],
198
+ "cam_distance": 2.5085179805755615
199
+ },
200
+ {
201
+ "frame": 10,
202
+ "take": 8,
203
+ "manipulation_level": 2,
204
+ "active_joints": [
205
+ 0,
206
+ 2
207
+ ],
208
+ "joint_positions": [
209
+ 0.26623666286468506,
210
+ -0.0
211
+ ],
212
+ "cam_pose": [
213
+ -2.4222359657287598,
214
+ -0.16418777406215668,
215
+ 0.6312509179115295
216
+ ],
217
+ "cam_distance": 2.5085179805755615
218
+ },
219
+ {
220
+ "frame": 11,
221
+ "take": 8,
222
+ "manipulation_level": 2,
223
+ "active_joints": [
224
+ 0,
225
+ 2
226
+ ],
227
+ "joint_positions": [
228
+ 0.29286032915115356,
229
+ -0.0
230
+ ],
231
+ "cam_pose": [
232
+ -2.4222359657287598,
233
+ -0.16418777406215668,
234
+ 0.6312509179115295
235
+ ],
236
+ "cam_distance": 2.5085179805755615
237
+ },
238
+ {
239
+ "frame": 12,
240
+ "take": 8,
241
+ "manipulation_level": 2,
242
+ "active_joints": [
243
+ 0,
244
+ 2
245
+ ],
246
+ "joint_positions": [
247
+ 0.31948399543762207,
248
+ -0.0
249
+ ],
250
+ "cam_pose": [
251
+ -2.4222359657287598,
252
+ -0.16418777406215668,
253
+ 0.6312509179115295
254
+ ],
255
+ "cam_distance": 2.5085179805755615
256
+ },
257
+ {
258
+ "frame": 13,
259
+ "take": 8,
260
+ "manipulation_level": 2,
261
+ "active_joints": [
262
+ 0,
263
+ 2
264
+ ],
265
+ "joint_positions": [
266
+ 0.3461076617240906,
267
+ -0.0
268
+ ],
269
+ "cam_pose": [
270
+ -2.4222359657287598,
271
+ -0.16418777406215668,
272
+ 0.6312509179115295
273
+ ],
274
+ "cam_distance": 2.5085179805755615
275
+ },
276
+ {
277
+ "frame": 14,
278
+ "take": 8,
279
+ "manipulation_level": 2,
280
+ "active_joints": [
281
+ 0,
282
+ 2
283
+ ],
284
+ "joint_positions": [
285
+ 0.3727313280105591,
286
+ -0.0
287
+ ],
288
+ "cam_pose": [
289
+ -2.4222359657287598,
290
+ -0.16418777406215668,
291
+ 0.6312509179115295
292
+ ],
293
+ "cam_distance": 2.5085179805755615
294
+ },
295
+ {
296
+ "frame": 15,
297
+ "take": 8,
298
+ "manipulation_level": 2,
299
+ "active_joints": [
300
+ 0,
301
+ 2
302
+ ],
303
+ "joint_positions": [
304
+ 0.3993549942970276,
305
+ -0.0
306
+ ],
307
+ "cam_pose": [
308
+ -2.4222359657287598,
309
+ -0.16418777406215668,
310
+ 0.6312509179115295
311
+ ],
312
+ "cam_distance": 2.5085179805755615
313
+ },
314
+ {
315
+ "frame": 16,
316
+ "take": 8,
317
+ "manipulation_level": 2,
318
+ "active_joints": [
319
+ 0,
320
+ 2
321
+ ],
322
+ "joint_positions": [
323
+ 0.4259786605834961,
324
+ -0.0
325
+ ],
326
+ "cam_pose": [
327
+ -2.4222359657287598,
328
+ -0.16418777406215668,
329
+ 0.6312509179115295
330
+ ],
331
+ "cam_distance": 2.5085179805755615
332
+ },
333
+ {
334
+ "frame": 17,
335
+ "take": 8,
336
+ "manipulation_level": 2,
337
+ "active_joints": [
338
+ 0,
339
+ 2
340
+ ],
341
+ "joint_positions": [
342
+ 0.4526023268699646,
343
+ -0.0
344
+ ],
345
+ "cam_pose": [
346
+ -2.4222359657287598,
347
+ -0.16418777406215668,
348
+ 0.6312509179115295
349
+ ],
350
+ "cam_distance": 2.5085179805755615
351
+ },
352
+ {
353
+ "frame": 18,
354
+ "take": 8,
355
+ "manipulation_level": 2,
356
+ "active_joints": [
357
+ 0,
358
+ 2
359
+ ],
360
+ "joint_positions": [
361
+ 0.4792259931564331,
362
+ -0.0
363
+ ],
364
+ "cam_pose": [
365
+ -2.4222359657287598,
366
+ -0.16418777406215668,
367
+ 0.6312509179115295
368
+ ],
369
+ "cam_distance": 2.5085179805755615
370
+ },
371
+ {
372
+ "frame": 19,
373
+ "take": 8,
374
+ "manipulation_level": 2,
375
+ "active_joints": [
376
+ 0,
377
+ 2
378
+ ],
379
+ "joint_positions": [
380
+ 0.5058496594429016,
381
+ -0.0
382
+ ],
383
+ "cam_pose": [
384
+ -2.4222359657287598,
385
+ -0.16418777406215668,
386
+ 0.6312509179115295
387
+ ],
388
+ "cam_distance": 2.5085179805755615
389
+ },
390
+ {
391
+ "frame": 20,
392
+ "take": 8,
393
+ "manipulation_level": 2,
394
+ "active_joints": [
395
+ 0,
396
+ 2
397
+ ],
398
+ "joint_positions": [
399
+ 0.5324733257293701,
400
+ -0.0
401
+ ],
402
+ "cam_pose": [
403
+ -2.4222359657287598,
404
+ -0.16418777406215668,
405
+ 0.6312509179115295
406
+ ],
407
+ "cam_distance": 2.5085179805755615
408
+ },
409
+ {
410
+ "frame": 21,
411
+ "take": 8,
412
+ "manipulation_level": 2,
413
+ "active_joints": [
414
+ 0,
415
+ 2
416
+ ],
417
+ "joint_positions": [
418
+ 0.5590969920158386,
419
+ -0.0
420
+ ],
421
+ "cam_pose": [
422
+ -2.4222359657287598,
423
+ -0.16418777406215668,
424
+ 0.6312509179115295
425
+ ],
426
+ "cam_distance": 2.5085179805755615
427
+ },
428
+ {
429
+ "frame": 22,
430
+ "take": 8,
431
+ "manipulation_level": 2,
432
+ "active_joints": [
433
+ 0,
434
+ 2
435
+ ],
436
+ "joint_positions": [
437
+ 0.5857206583023071,
438
+ -0.0
439
+ ],
440
+ "cam_pose": [
441
+ -2.4222359657287598,
442
+ -0.16418777406215668,
443
+ 0.6312509179115295
444
+ ],
445
+ "cam_distance": 2.5085179805755615
446
+ },
447
+ {
448
+ "frame": 23,
449
+ "take": 8,
450
+ "manipulation_level": 2,
451
+ "active_joints": [
452
+ 0,
453
+ 2
454
+ ],
455
+ "joint_positions": [
456
+ 0.6123443245887756,
457
+ -0.0
458
+ ],
459
+ "cam_pose": [
460
+ -2.4222359657287598,
461
+ -0.16418777406215668,
462
+ 0.6312509179115295
463
+ ],
464
+ "cam_distance": 2.5085179805755615
465
+ },
466
+ {
467
+ "frame": 24,
468
+ "take": 8,
469
+ "manipulation_level": 2,
470
+ "active_joints": [
471
+ 0,
472
+ 2
473
+ ],
474
+ "joint_positions": [
475
+ 0.6389679908752441,
476
+ -0.0
477
+ ],
478
+ "cam_pose": [
479
+ -2.4222359657287598,
480
+ -0.16418777406215668,
481
+ 0.6312509179115295
482
+ ],
483
+ "cam_distance": 2.5085179805755615
484
+ },
485
+ {
486
+ "frame": 25,
487
+ "take": 8,
488
+ "manipulation_level": 2,
489
+ "active_joints": [
490
+ 0,
491
+ 2
492
+ ],
493
+ "joint_positions": [
494
+ 0.6655916571617126,
495
+ -0.0
496
+ ],
497
+ "cam_pose": [
498
+ -2.4222359657287598,
499
+ -0.16418777406215668,
500
+ 0.6312509179115295
501
+ ],
502
+ "cam_distance": 2.5085179805755615
503
+ },
504
+ {
505
+ "frame": 26,
506
+ "take": 8,
507
+ "manipulation_level": 2,
508
+ "active_joints": [
509
+ 0,
510
+ 2
511
+ ],
512
+ "joint_positions": [
513
+ 0.6922153234481812,
514
+ -0.0
515
+ ],
516
+ "cam_pose": [
517
+ -2.4222359657287598,
518
+ -0.16418777406215668,
519
+ 0.6312509179115295
520
+ ],
521
+ "cam_distance": 2.5085179805755615
522
+ },
523
+ {
524
+ "frame": 27,
525
+ "take": 8,
526
+ "manipulation_level": 2,
527
+ "active_joints": [
528
+ 0,
529
+ 2
530
+ ],
531
+ "joint_positions": [
532
+ 0.7188389897346497,
533
+ -0.0
534
+ ],
535
+ "cam_pose": [
536
+ -2.4222359657287598,
537
+ -0.16418777406215668,
538
+ 0.6312509179115295
539
+ ],
540
+ "cam_distance": 2.5085179805755615
541
+ },
542
+ {
543
+ "frame": 28,
544
+ "take": 8,
545
+ "manipulation_level": 2,
546
+ "active_joints": [
547
+ 0,
548
+ 2
549
+ ],
550
+ "joint_positions": [
551
+ 0.7454626560211182,
552
+ -0.0
553
+ ],
554
+ "cam_pose": [
555
+ -2.4222359657287598,
556
+ -0.16418777406215668,
557
+ 0.6312509179115295
558
+ ],
559
+ "cam_distance": 2.5085179805755615
560
+ },
561
+ {
562
+ "frame": 29,
563
+ "take": 8,
564
+ "manipulation_level": 2,
565
+ "active_joints": [
566
+ 0,
567
+ 2
568
+ ],
569
+ "joint_positions": [
570
+ 0.7720863223075867,
571
+ -0.0
572
+ ],
573
+ "cam_pose": [
574
+ -2.4222359657287598,
575
+ -0.16418777406215668,
576
+ 0.6312509179115295
577
+ ],
578
+ "cam_distance": 2.5085179805755615
579
+ },
580
+ {
581
+ "frame": 30,
582
+ "take": 8,
583
+ "manipulation_level": 2,
584
+ "active_joints": [
585
+ 0,
586
+ 2
587
+ ],
588
+ "joint_positions": [
589
+ 0.7987099885940552,
590
+ -0.0
591
+ ],
592
+ "cam_pose": [
593
+ -2.4222359657287598,
594
+ -0.16418777406215668,
595
+ 0.6312509179115295
596
+ ],
597
+ "cam_distance": 2.5085179805755615
598
+ },
599
+ {
600
+ "frame": 31,
601
+ "take": 8,
602
+ "manipulation_level": 2,
603
+ "active_joints": [
604
+ 0,
605
+ 2
606
+ ],
607
+ "joint_positions": [
608
+ 0.8253336548805237,
609
+ -0.0
610
+ ],
611
+ "cam_pose": [
612
+ -2.4222359657287598,
613
+ -0.16418777406215668,
614
+ 0.6312509179115295
615
+ ],
616
+ "cam_distance": 2.5085179805755615
617
+ },
618
+ {
619
+ "frame": 32,
620
+ "take": 8,
621
+ "manipulation_level": 2,
622
+ "active_joints": [
623
+ 0,
624
+ 2
625
+ ],
626
+ "joint_positions": [
627
+ 0.8519573211669922,
628
+ -0.0
629
+ ],
630
+ "cam_pose": [
631
+ -2.4222359657287598,
632
+ -0.16418777406215668,
633
+ 0.6312509179115295
634
+ ],
635
+ "cam_distance": 2.5085179805755615
636
+ },
637
+ {
638
+ "frame": 33,
639
+ "take": 8,
640
+ "manipulation_level": 2,
641
+ "active_joints": [
642
+ 0,
643
+ 2
644
+ ],
645
+ "joint_positions": [
646
+ 0.8785809874534607,
647
+ -0.0
648
+ ],
649
+ "cam_pose": [
650
+ -2.4222359657287598,
651
+ -0.16418777406215668,
652
+ 0.6312509179115295
653
+ ],
654
+ "cam_distance": 2.5085179805755615
655
+ },
656
+ {
657
+ "frame": 34,
658
+ "take": 8,
659
+ "manipulation_level": 2,
660
+ "active_joints": [
661
+ 0,
662
+ 2
663
+ ],
664
+ "joint_positions": [
665
+ 0.9052046537399292,
666
+ -0.0
667
+ ],
668
+ "cam_pose": [
669
+ -2.4222359657287598,
670
+ -0.16418777406215668,
671
+ 0.6312509179115295
672
+ ],
673
+ "cam_distance": 2.5085179805755615
674
+ },
675
+ {
676
+ "frame": 35,
677
+ "take": 8,
678
+ "manipulation_level": 2,
679
+ "active_joints": [
680
+ 0,
681
+ 2
682
+ ],
683
+ "joint_positions": [
684
+ 0.9318283200263977,
685
+ -0.0
686
+ ],
687
+ "cam_pose": [
688
+ -2.4222359657287598,
689
+ -0.16418777406215668,
690
+ 0.6312509179115295
691
+ ],
692
+ "cam_distance": 2.5085179805755615
693
+ },
694
+ {
695
+ "frame": 36,
696
+ "take": 8,
697
+ "manipulation_level": 2,
698
+ "active_joints": [
699
+ 0,
700
+ 2
701
+ ],
702
+ "joint_positions": [
703
+ 0.9584519863128662,
704
+ -0.0
705
+ ],
706
+ "cam_pose": [
707
+ -2.4222359657287598,
708
+ -0.16418777406215668,
709
+ 0.6312509179115295
710
+ ],
711
+ "cam_distance": 2.5085179805755615
712
+ },
713
+ {
714
+ "frame": 37,
715
+ "take": 8,
716
+ "manipulation_level": 2,
717
+ "active_joints": [
718
+ 0,
719
+ 2
720
+ ],
721
+ "joint_positions": [
722
+ 0.9850756525993347,
723
+ -0.0
724
+ ],
725
+ "cam_pose": [
726
+ -2.4222359657287598,
727
+ -0.16418777406215668,
728
+ 0.6312509179115295
729
+ ],
730
+ "cam_distance": 2.5085179805755615
731
+ },
732
+ {
733
+ "frame": 38,
734
+ "take": 8,
735
+ "manipulation_level": 2,
736
+ "active_joints": [
737
+ 0,
738
+ 2
739
+ ],
740
+ "joint_positions": [
741
+ 1.0116993188858032,
742
+ -0.0
743
+ ],
744
+ "cam_pose": [
745
+ -2.4222359657287598,
746
+ -0.16418777406215668,
747
+ 0.6312509179115295
748
+ ],
749
+ "cam_distance": 2.5085179805755615
750
+ },
751
+ {
752
+ "frame": 39,
753
+ "take": 8,
754
+ "manipulation_level": 2,
755
+ "active_joints": [
756
+ 0,
757
+ 2
758
+ ],
759
+ "joint_positions": [
760
+ 1.0383230447769165,
761
+ -0.0
762
+ ],
763
+ "cam_pose": [
764
+ -2.4222359657287598,
765
+ -0.16418777406215668,
766
+ 0.6312509179115295
767
+ ],
768
+ "cam_distance": 2.5085179805755615
769
+ },
770
+ {
771
+ "frame": 40,
772
+ "take": 8,
773
+ "manipulation_level": 2,
774
+ "active_joints": [
775
+ 0,
776
+ 2
777
+ ],
778
+ "joint_positions": [
779
+ 1.0649466514587402,
780
+ -0.0
781
+ ],
782
+ "cam_pose": [
783
+ -2.4222359657287598,
784
+ -0.16418777406215668,
785
+ 0.6312509179115295
786
+ ],
787
+ "cam_distance": 2.5085179805755615
788
+ },
789
+ {
790
+ "frame": 41,
791
+ "take": 8,
792
+ "manipulation_level": 2,
793
+ "active_joints": [
794
+ 0,
795
+ 2
796
+ ],
797
+ "joint_positions": [
798
+ 1.0915703773498535,
799
+ -0.0
800
+ ],
801
+ "cam_pose": [
802
+ -2.4222359657287598,
803
+ -0.16418777406215668,
804
+ 0.6312509179115295
805
+ ],
806
+ "cam_distance": 2.5085179805755615
807
+ },
808
+ {
809
+ "frame": 42,
810
+ "take": 8,
811
+ "manipulation_level": 2,
812
+ "active_joints": [
813
+ 0,
814
+ 2
815
+ ],
816
+ "joint_positions": [
817
+ 1.1181939840316772,
818
+ -0.0
819
+ ],
820
+ "cam_pose": [
821
+ -2.4222359657287598,
822
+ -0.16418777406215668,
823
+ 0.6312509179115295
824
+ ],
825
+ "cam_distance": 2.5085179805755615
826
+ },
827
+ {
828
+ "frame": 43,
829
+ "take": 8,
830
+ "manipulation_level": 2,
831
+ "active_joints": [
832
+ 0,
833
+ 2
834
+ ],
835
+ "joint_positions": [
836
+ 1.1448177099227905,
837
+ -0.0
838
+ ],
839
+ "cam_pose": [
840
+ -2.4222359657287598,
841
+ -0.16418777406215668,
842
+ 0.6312509179115295
843
+ ],
844
+ "cam_distance": 2.5085179805755615
845
+ },
846
+ {
847
+ "frame": 44,
848
+ "take": 8,
849
+ "manipulation_level": 2,
850
+ "active_joints": [
851
+ 0,
852
+ 2
853
+ ],
854
+ "joint_positions": [
855
+ 1.1714413166046143,
856
+ -0.0
857
+ ],
858
+ "cam_pose": [
859
+ -2.4222359657287598,
860
+ -0.16418777406215668,
861
+ 0.6312509179115295
862
+ ],
863
+ "cam_distance": 2.5085179805755615
864
+ },
865
+ {
866
+ "frame": 45,
867
+ "take": 8,
868
+ "manipulation_level": 2,
869
+ "active_joints": [
870
+ 0,
871
+ 2
872
+ ],
873
+ "joint_positions": [
874
+ 1.1980650424957275,
875
+ -0.0
876
+ ],
877
+ "cam_pose": [
878
+ -2.4222359657287598,
879
+ -0.16418777406215668,
880
+ 0.6312509179115295
881
+ ],
882
+ "cam_distance": 2.5085179805755615
883
+ },
884
+ {
885
+ "frame": 46,
886
+ "take": 8,
887
+ "manipulation_level": 2,
888
+ "active_joints": [
889
+ 0,
890
+ 2
891
+ ],
892
+ "joint_positions": [
893
+ 1.2246886491775513,
894
+ -0.0
895
+ ],
896
+ "cam_pose": [
897
+ -2.4222359657287598,
898
+ -0.16418777406215668,
899
+ 0.6312509179115295
900
+ ],
901
+ "cam_distance": 2.5085179805755615
902
+ },
903
+ {
904
+ "frame": 47,
905
+ "take": 8,
906
+ "manipulation_level": 2,
907
+ "active_joints": [
908
+ 0,
909
+ 2
910
+ ],
911
+ "joint_positions": [
912
+ 1.2513123750686646,
913
+ -0.0
914
+ ],
915
+ "cam_pose": [
916
+ -2.4222359657287598,
917
+ -0.16418777406215668,
918
+ 0.6312509179115295
919
+ ],
920
+ "cam_distance": 2.5085179805755615
921
+ },
922
+ {
923
+ "frame": 48,
924
+ "take": 8,
925
+ "manipulation_level": 2,
926
+ "active_joints": [
927
+ 0,
928
+ 2
929
+ ],
930
+ "joint_positions": [
931
+ 1.2779359817504883,
932
+ -0.0
933
+ ],
934
+ "cam_pose": [
935
+ -2.4222359657287598,
936
+ -0.16418777406215668,
937
+ 0.6312509179115295
938
+ ],
939
+ "cam_distance": 2.5085179805755615
940
+ },
941
+ {
942
+ "frame": 49,
943
+ "take": 8,
944
+ "manipulation_level": 2,
945
+ "active_joints": [
946
+ 0,
947
+ 2
948
+ ],
949
+ "joint_positions": [
950
+ 1.3045597076416016,
951
+ -0.0
952
+ ],
953
+ "cam_pose": [
954
+ -2.4222359657287598,
955
+ -0.16418777406215668,
956
+ 0.6312509179115295
957
+ ],
958
+ "cam_distance": 2.5085179805755615
959
+ },
960
+ {
961
+ "frame": 50,
962
+ "take": 8,
963
+ "manipulation_level": 2,
964
+ "active_joints": [
965
+ 0,
966
+ 2
967
+ ],
968
+ "joint_positions": [
969
+ 1.3311833143234253,
970
+ -0.0
971
+ ],
972
+ "cam_pose": [
973
+ -2.4222359657287598,
974
+ -0.16418777406215668,
975
+ 0.6312509179115295
976
+ ],
977
+ "cam_distance": 2.5085179805755615
978
+ },
979
+ {
980
+ "frame": 51,
981
+ "take": 8,
982
+ "manipulation_level": 2,
983
+ "active_joints": [
984
+ 0,
985
+ 2
986
+ ],
987
+ "joint_positions": [
988
+ 1.3578070402145386,
989
+ -0.0
990
+ ],
991
+ "cam_pose": [
992
+ -2.4222359657287598,
993
+ -0.16418777406215668,
994
+ 0.6312509179115295
995
+ ],
996
+ "cam_distance": 2.5085179805755615
997
+ },
998
+ {
999
+ "frame": 52,
1000
+ "take": 8,
1001
+ "manipulation_level": 2,
1002
+ "active_joints": [
1003
+ 0,
1004
+ 2
1005
+ ],
1006
+ "joint_positions": [
1007
+ 1.3844306468963623,
1008
+ -0.0
1009
+ ],
1010
+ "cam_pose": [
1011
+ -2.4222359657287598,
1012
+ -0.16418777406215668,
1013
+ 0.6312509179115295
1014
+ ],
1015
+ "cam_distance": 2.5085179805755615
1016
+ },
1017
+ {
1018
+ "frame": 53,
1019
+ "take": 8,
1020
+ "manipulation_level": 2,
1021
+ "active_joints": [
1022
+ 0,
1023
+ 2
1024
+ ],
1025
+ "joint_positions": [
1026
+ 1.4110543727874756,
1027
+ -0.0
1028
+ ],
1029
+ "cam_pose": [
1030
+ -2.4222359657287598,
1031
+ -0.16418777406215668,
1032
+ 0.6312509179115295
1033
+ ],
1034
+ "cam_distance": 2.5085179805755615
1035
+ },
1036
+ {
1037
+ "frame": 54,
1038
+ "take": 8,
1039
+ "manipulation_level": 2,
1040
+ "active_joints": [
1041
+ 0,
1042
+ 2
1043
+ ],
1044
+ "joint_positions": [
1045
+ 1.4376779794692993,
1046
+ -0.0
1047
+ ],
1048
+ "cam_pose": [
1049
+ -2.4222359657287598,
1050
+ -0.16418777406215668,
1051
+ 0.6312509179115295
1052
+ ],
1053
+ "cam_distance": 2.5085179805755615
1054
+ },
1055
+ {
1056
+ "frame": 55,
1057
+ "take": 8,
1058
+ "manipulation_level": 2,
1059
+ "active_joints": [
1060
+ 0,
1061
+ 2
1062
+ ],
1063
+ "joint_positions": [
1064
+ 1.4643017053604126,
1065
+ -0.0
1066
+ ],
1067
+ "cam_pose": [
1068
+ -2.4222359657287598,
1069
+ -0.16418777406215668,
1070
+ 0.6312509179115295
1071
+ ],
1072
+ "cam_distance": 2.5085179805755615
1073
+ },
1074
+ {
1075
+ "frame": 56,
1076
+ "take": 8,
1077
+ "manipulation_level": 2,
1078
+ "active_joints": [
1079
+ 0,
1080
+ 2
1081
+ ],
1082
+ "joint_positions": [
1083
+ 1.4909253120422363,
1084
+ -0.0
1085
+ ],
1086
+ "cam_pose": [
1087
+ -2.4222359657287598,
1088
+ -0.16418777406215668,
1089
+ 0.6312509179115295
1090
+ ],
1091
+ "cam_distance": 2.5085179805755615
1092
+ },
1093
+ {
1094
+ "frame": 57,
1095
+ "take": 8,
1096
+ "manipulation_level": 2,
1097
+ "active_joints": [
1098
+ 0,
1099
+ 2
1100
+ ],
1101
+ "joint_positions": [
1102
+ 1.5175490379333496,
1103
+ -0.0
1104
+ ],
1105
+ "cam_pose": [
1106
+ -2.4222359657287598,
1107
+ -0.16418777406215668,
1108
+ 0.6312509179115295
1109
+ ],
1110
+ "cam_distance": 2.5085179805755615
1111
+ },
1112
+ {
1113
+ "frame": 58,
1114
+ "take": 8,
1115
+ "manipulation_level": 2,
1116
+ "active_joints": [
1117
+ 0,
1118
+ 2
1119
+ ],
1120
+ "joint_positions": [
1121
+ 1.5441726446151733,
1122
+ -0.0
1123
+ ],
1124
+ "cam_pose": [
1125
+ -2.4222359657287598,
1126
+ -0.16418777406215668,
1127
+ 0.6312509179115295
1128
+ ],
1129
+ "cam_distance": 2.5085179805755615
1130
+ },
1131
+ {
1132
+ "frame": 59,
1133
+ "take": 8,
1134
+ "manipulation_level": 2,
1135
+ "active_joints": [
1136
+ 0,
1137
+ 2
1138
+ ],
1139
+ "joint_positions": [
1140
+ 1.5707963705062866,
1141
+ -0.0
1142
+ ],
1143
+ "cam_pose": [
1144
+ -2.4222359657287598,
1145
+ -0.16418777406215668,
1146
+ 0.6312509179115295
1147
+ ],
1148
+ "cam_distance": 2.5085179805755615
1149
+ },
1150
+ {
1151
+ "frame": 60,
1152
+ "take": 8,
1153
+ "manipulation_level": 2,
1154
+ "active_joints": [
1155
+ 0,
1156
+ 2
1157
+ ],
1158
+ "joint_positions": [
1159
+ -0.0,
1160
+ 0.0
1161
+ ],
1162
+ "cam_pose": [
1163
+ -2.4222359657287598,
1164
+ -0.16418777406215668,
1165
+ 0.6312509179115295
1166
+ ],
1167
+ "cam_distance": 2.5085179805755615
1168
+ },
1169
+ {
1170
+ "frame": 61,
1171
+ "take": 8,
1172
+ "manipulation_level": 2,
1173
+ "active_joints": [
1174
+ 0,
1175
+ 2
1176
+ ],
1177
+ "joint_positions": [
1178
+ -0.0,
1179
+ 0.026623666286468506
1180
+ ],
1181
+ "cam_pose": [
1182
+ -2.4222359657287598,
1183
+ -0.16418777406215668,
1184
+ 0.6312509179115295
1185
+ ],
1186
+ "cam_distance": 2.5085179805755615
1187
+ },
1188
+ {
1189
+ "frame": 62,
1190
+ "take": 8,
1191
+ "manipulation_level": 2,
1192
+ "active_joints": [
1193
+ 0,
1194
+ 2
1195
+ ],
1196
+ "joint_positions": [
1197
+ -0.0,
1198
+ 0.05324733257293701
1199
+ ],
1200
+ "cam_pose": [
1201
+ -2.4222359657287598,
1202
+ -0.16418777406215668,
1203
+ 0.6312509179115295
1204
+ ],
1205
+ "cam_distance": 2.5085179805755615
1206
+ },
1207
+ {
1208
+ "frame": 63,
1209
+ "take": 8,
1210
+ "manipulation_level": 2,
1211
+ "active_joints": [
1212
+ 0,
1213
+ 2
1214
+ ],
1215
+ "joint_positions": [
1216
+ -0.0,
1217
+ 0.07987099885940552
1218
+ ],
1219
+ "cam_pose": [
1220
+ -2.4222359657287598,
1221
+ -0.16418777406215668,
1222
+ 0.6312509179115295
1223
+ ],
1224
+ "cam_distance": 2.5085179805755615
1225
+ },
1226
+ {
1227
+ "frame": 64,
1228
+ "take": 8,
1229
+ "manipulation_level": 2,
1230
+ "active_joints": [
1231
+ 0,
1232
+ 2
1233
+ ],
1234
+ "joint_positions": [
1235
+ -0.0,
1236
+ 0.10649466514587402
1237
+ ],
1238
+ "cam_pose": [
1239
+ -2.4222359657287598,
1240
+ -0.16418777406215668,
1241
+ 0.6312509179115295
1242
+ ],
1243
+ "cam_distance": 2.5085179805755615
1244
+ },
1245
+ {
1246
+ "frame": 65,
1247
+ "take": 8,
1248
+ "manipulation_level": 2,
1249
+ "active_joints": [
1250
+ 0,
1251
+ 2
1252
+ ],
1253
+ "joint_positions": [
1254
+ -0.0,
1255
+ 0.13311833143234253
1256
+ ],
1257
+ "cam_pose": [
1258
+ -2.4222359657287598,
1259
+ -0.16418777406215668,
1260
+ 0.6312509179115295
1261
+ ],
1262
+ "cam_distance": 2.5085179805755615
1263
+ },
1264
+ {
1265
+ "frame": 66,
1266
+ "take": 8,
1267
+ "manipulation_level": 2,
1268
+ "active_joints": [
1269
+ 0,
1270
+ 2
1271
+ ],
1272
+ "joint_positions": [
1273
+ -0.0,
1274
+ 0.15974199771881104
1275
+ ],
1276
+ "cam_pose": [
1277
+ -2.4222359657287598,
1278
+ -0.16418777406215668,
1279
+ 0.6312509179115295
1280
+ ],
1281
+ "cam_distance": 2.5085179805755615
1282
+ },
1283
+ {
1284
+ "frame": 67,
1285
+ "take": 8,
1286
+ "manipulation_level": 2,
1287
+ "active_joints": [
1288
+ 0,
1289
+ 2
1290
+ ],
1291
+ "joint_positions": [
1292
+ -0.0,
1293
+ 0.18636566400527954
1294
+ ],
1295
+ "cam_pose": [
1296
+ -2.4222359657287598,
1297
+ -0.16418777406215668,
1298
+ 0.6312509179115295
1299
+ ],
1300
+ "cam_distance": 2.5085179805755615
1301
+ },
1302
+ {
1303
+ "frame": 68,
1304
+ "take": 8,
1305
+ "manipulation_level": 2,
1306
+ "active_joints": [
1307
+ 0,
1308
+ 2
1309
+ ],
1310
+ "joint_positions": [
1311
+ -0.0,
1312
+ 0.21298933029174805
1313
+ ],
1314
+ "cam_pose": [
1315
+ -2.4222359657287598,
1316
+ -0.16418777406215668,
1317
+ 0.6312509179115295
1318
+ ],
1319
+ "cam_distance": 2.5085179805755615
1320
+ },
1321
+ {
1322
+ "frame": 69,
1323
+ "take": 8,
1324
+ "manipulation_level": 2,
1325
+ "active_joints": [
1326
+ 0,
1327
+ 2
1328
+ ],
1329
+ "joint_positions": [
1330
+ -0.0,
1331
+ 0.23961299657821655
1332
+ ],
1333
+ "cam_pose": [
1334
+ -2.4222359657287598,
1335
+ -0.16418777406215668,
1336
+ 0.6312509179115295
1337
+ ],
1338
+ "cam_distance": 2.5085179805755615
1339
+ },
1340
+ {
1341
+ "frame": 70,
1342
+ "take": 8,
1343
+ "manipulation_level": 2,
1344
+ "active_joints": [
1345
+ 0,
1346
+ 2
1347
+ ],
1348
+ "joint_positions": [
1349
+ -0.0,
1350
+ 0.26623666286468506
1351
+ ],
1352
+ "cam_pose": [
1353
+ -2.4222359657287598,
1354
+ -0.16418777406215668,
1355
+ 0.6312509179115295
1356
+ ],
1357
+ "cam_distance": 2.5085179805755615
1358
+ },
1359
+ {
1360
+ "frame": 71,
1361
+ "take": 8,
1362
+ "manipulation_level": 2,
1363
+ "active_joints": [
1364
+ 0,
1365
+ 2
1366
+ ],
1367
+ "joint_positions": [
1368
+ -0.0,
1369
+ 0.29286032915115356
1370
+ ],
1371
+ "cam_pose": [
1372
+ -2.4222359657287598,
1373
+ -0.16418777406215668,
1374
+ 0.6312509179115295
1375
+ ],
1376
+ "cam_distance": 2.5085179805755615
1377
+ },
1378
+ {
1379
+ "frame": 72,
1380
+ "take": 8,
1381
+ "manipulation_level": 2,
1382
+ "active_joints": [
1383
+ 0,
1384
+ 2
1385
+ ],
1386
+ "joint_positions": [
1387
+ -0.0,
1388
+ 0.31948399543762207
1389
+ ],
1390
+ "cam_pose": [
1391
+ -2.4222359657287598,
1392
+ -0.16418777406215668,
1393
+ 0.6312509179115295
1394
+ ],
1395
+ "cam_distance": 2.5085179805755615
1396
+ },
1397
+ {
1398
+ "frame": 73,
1399
+ "take": 8,
1400
+ "manipulation_level": 2,
1401
+ "active_joints": [
1402
+ 0,
1403
+ 2
1404
+ ],
1405
+ "joint_positions": [
1406
+ -0.0,
1407
+ 0.3461076617240906
1408
+ ],
1409
+ "cam_pose": [
1410
+ -2.4222359657287598,
1411
+ -0.16418777406215668,
1412
+ 0.6312509179115295
1413
+ ],
1414
+ "cam_distance": 2.5085179805755615
1415
+ },
1416
+ {
1417
+ "frame": 74,
1418
+ "take": 8,
1419
+ "manipulation_level": 2,
1420
+ "active_joints": [
1421
+ 0,
1422
+ 2
1423
+ ],
1424
+ "joint_positions": [
1425
+ -0.0,
1426
+ 0.3727313280105591
1427
+ ],
1428
+ "cam_pose": [
1429
+ -2.4222359657287598,
1430
+ -0.16418777406215668,
1431
+ 0.6312509179115295
1432
+ ],
1433
+ "cam_distance": 2.5085179805755615
1434
+ },
1435
+ {
1436
+ "frame": 75,
1437
+ "take": 8,
1438
+ "manipulation_level": 2,
1439
+ "active_joints": [
1440
+ 0,
1441
+ 2
1442
+ ],
1443
+ "joint_positions": [
1444
+ -0.0,
1445
+ 0.3993549942970276
1446
+ ],
1447
+ "cam_pose": [
1448
+ -2.4222359657287598,
1449
+ -0.16418777406215668,
1450
+ 0.6312509179115295
1451
+ ],
1452
+ "cam_distance": 2.5085179805755615
1453
+ },
1454
+ {
1455
+ "frame": 76,
1456
+ "take": 8,
1457
+ "manipulation_level": 2,
1458
+ "active_joints": [
1459
+ 0,
1460
+ 2
1461
+ ],
1462
+ "joint_positions": [
1463
+ -0.0,
1464
+ 0.4259786605834961
1465
+ ],
1466
+ "cam_pose": [
1467
+ -2.4222359657287598,
1468
+ -0.16418777406215668,
1469
+ 0.6312509179115295
1470
+ ],
1471
+ "cam_distance": 2.5085179805755615
1472
+ },
1473
+ {
1474
+ "frame": 77,
1475
+ "take": 8,
1476
+ "manipulation_level": 2,
1477
+ "active_joints": [
1478
+ 0,
1479
+ 2
1480
+ ],
1481
+ "joint_positions": [
1482
+ -0.0,
1483
+ 0.4526023268699646
1484
+ ],
1485
+ "cam_pose": [
1486
+ -2.4222359657287598,
1487
+ -0.16418777406215668,
1488
+ 0.6312509179115295
1489
+ ],
1490
+ "cam_distance": 2.5085179805755615
1491
+ },
1492
+ {
1493
+ "frame": 78,
1494
+ "take": 8,
1495
+ "manipulation_level": 2,
1496
+ "active_joints": [
1497
+ 0,
1498
+ 2
1499
+ ],
1500
+ "joint_positions": [
1501
+ -0.0,
1502
+ 0.4792259931564331
1503
+ ],
1504
+ "cam_pose": [
1505
+ -2.4222359657287598,
1506
+ -0.16418777406215668,
1507
+ 0.6312509179115295
1508
+ ],
1509
+ "cam_distance": 2.5085179805755615
1510
+ },
1511
+ {
1512
+ "frame": 79,
1513
+ "take": 8,
1514
+ "manipulation_level": 2,
1515
+ "active_joints": [
1516
+ 0,
1517
+ 2
1518
+ ],
1519
+ "joint_positions": [
1520
+ -0.0,
1521
+ 0.5058496594429016
1522
+ ],
1523
+ "cam_pose": [
1524
+ -2.4222359657287598,
1525
+ -0.16418777406215668,
1526
+ 0.6312509179115295
1527
+ ],
1528
+ "cam_distance": 2.5085179805755615
1529
+ },
1530
+ {
1531
+ "frame": 80,
1532
+ "take": 8,
1533
+ "manipulation_level": 2,
1534
+ "active_joints": [
1535
+ 0,
1536
+ 2
1537
+ ],
1538
+ "joint_positions": [
1539
+ -0.0,
1540
+ 0.5324733257293701
1541
+ ],
1542
+ "cam_pose": [
1543
+ -2.4222359657287598,
1544
+ -0.16418777406215668,
1545
+ 0.6312509179115295
1546
+ ],
1547
+ "cam_distance": 2.5085179805755615
1548
+ },
1549
+ {
1550
+ "frame": 81,
1551
+ "take": 8,
1552
+ "manipulation_level": 2,
1553
+ "active_joints": [
1554
+ 0,
1555
+ 2
1556
+ ],
1557
+ "joint_positions": [
1558
+ -0.0,
1559
+ 0.5590969920158386
1560
+ ],
1561
+ "cam_pose": [
1562
+ -2.4222359657287598,
1563
+ -0.16418777406215668,
1564
+ 0.6312509179115295
1565
+ ],
1566
+ "cam_distance": 2.5085179805755615
1567
+ },
1568
+ {
1569
+ "frame": 82,
1570
+ "take": 8,
1571
+ "manipulation_level": 2,
1572
+ "active_joints": [
1573
+ 0,
1574
+ 2
1575
+ ],
1576
+ "joint_positions": [
1577
+ -0.0,
1578
+ 0.5857206583023071
1579
+ ],
1580
+ "cam_pose": [
1581
+ -2.4222359657287598,
1582
+ -0.16418777406215668,
1583
+ 0.6312509179115295
1584
+ ],
1585
+ "cam_distance": 2.5085179805755615
1586
+ },
1587
+ {
1588
+ "frame": 83,
1589
+ "take": 8,
1590
+ "manipulation_level": 2,
1591
+ "active_joints": [
1592
+ 0,
1593
+ 2
1594
+ ],
1595
+ "joint_positions": [
1596
+ -0.0,
1597
+ 0.6123443245887756
1598
+ ],
1599
+ "cam_pose": [
1600
+ -2.4222359657287598,
1601
+ -0.16418777406215668,
1602
+ 0.6312509179115295
1603
+ ],
1604
+ "cam_distance": 2.5085179805755615
1605
+ },
1606
+ {
1607
+ "frame": 84,
1608
+ "take": 8,
1609
+ "manipulation_level": 2,
1610
+ "active_joints": [
1611
+ 0,
1612
+ 2
1613
+ ],
1614
+ "joint_positions": [
1615
+ -0.0,
1616
+ 0.6389679908752441
1617
+ ],
1618
+ "cam_pose": [
1619
+ -2.4222359657287598,
1620
+ -0.16418777406215668,
1621
+ 0.6312509179115295
1622
+ ],
1623
+ "cam_distance": 2.5085179805755615
1624
+ },
1625
+ {
1626
+ "frame": 85,
1627
+ "take": 8,
1628
+ "manipulation_level": 2,
1629
+ "active_joints": [
1630
+ 0,
1631
+ 2
1632
+ ],
1633
+ "joint_positions": [
1634
+ -0.0,
1635
+ 0.6655916571617126
1636
+ ],
1637
+ "cam_pose": [
1638
+ -2.4222359657287598,
1639
+ -0.16418777406215668,
1640
+ 0.6312509179115295
1641
+ ],
1642
+ "cam_distance": 2.5085179805755615
1643
+ },
1644
+ {
1645
+ "frame": 86,
1646
+ "take": 8,
1647
+ "manipulation_level": 2,
1648
+ "active_joints": [
1649
+ 0,
1650
+ 2
1651
+ ],
1652
+ "joint_positions": [
1653
+ -0.0,
1654
+ 0.6922153234481812
1655
+ ],
1656
+ "cam_pose": [
1657
+ -2.4222359657287598,
1658
+ -0.16418777406215668,
1659
+ 0.6312509179115295
1660
+ ],
1661
+ "cam_distance": 2.5085179805755615
1662
+ },
1663
+ {
1664
+ "frame": 87,
1665
+ "take": 8,
1666
+ "manipulation_level": 2,
1667
+ "active_joints": [
1668
+ 0,
1669
+ 2
1670
+ ],
1671
+ "joint_positions": [
1672
+ -0.0,
1673
+ 0.7188389897346497
1674
+ ],
1675
+ "cam_pose": [
1676
+ -2.4222359657287598,
1677
+ -0.16418777406215668,
1678
+ 0.6312509179115295
1679
+ ],
1680
+ "cam_distance": 2.5085179805755615
1681
+ },
1682
+ {
1683
+ "frame": 88,
1684
+ "take": 8,
1685
+ "manipulation_level": 2,
1686
+ "active_joints": [
1687
+ 0,
1688
+ 2
1689
+ ],
1690
+ "joint_positions": [
1691
+ -0.0,
1692
+ 0.7454626560211182
1693
+ ],
1694
+ "cam_pose": [
1695
+ -2.4222359657287598,
1696
+ -0.16418777406215668,
1697
+ 0.6312509179115295
1698
+ ],
1699
+ "cam_distance": 2.5085179805755615
1700
+ },
1701
+ {
1702
+ "frame": 89,
1703
+ "take": 8,
1704
+ "manipulation_level": 2,
1705
+ "active_joints": [
1706
+ 0,
1707
+ 2
1708
+ ],
1709
+ "joint_positions": [
1710
+ -0.0,
1711
+ 0.7720863223075867
1712
+ ],
1713
+ "cam_pose": [
1714
+ -2.4222359657287598,
1715
+ -0.16418777406215668,
1716
+ 0.6312509179115295
1717
+ ],
1718
+ "cam_distance": 2.5085179805755615
1719
+ },
1720
+ {
1721
+ "frame": 90,
1722
+ "take": 8,
1723
+ "manipulation_level": 2,
1724
+ "active_joints": [
1725
+ 0,
1726
+ 2
1727
+ ],
1728
+ "joint_positions": [
1729
+ -0.0,
1730
+ 0.7987099885940552
1731
+ ],
1732
+ "cam_pose": [
1733
+ -2.4222359657287598,
1734
+ -0.16418777406215668,
1735
+ 0.6312509179115295
1736
+ ],
1737
+ "cam_distance": 2.5085179805755615
1738
+ },
1739
+ {
1740
+ "frame": 91,
1741
+ "take": 8,
1742
+ "manipulation_level": 2,
1743
+ "active_joints": [
1744
+ 0,
1745
+ 2
1746
+ ],
1747
+ "joint_positions": [
1748
+ -0.0,
1749
+ 0.8253336548805237
1750
+ ],
1751
+ "cam_pose": [
1752
+ -2.4222359657287598,
1753
+ -0.16418777406215668,
1754
+ 0.6312509179115295
1755
+ ],
1756
+ "cam_distance": 2.5085179805755615
1757
+ },
1758
+ {
1759
+ "frame": 92,
1760
+ "take": 8,
1761
+ "manipulation_level": 2,
1762
+ "active_joints": [
1763
+ 0,
1764
+ 2
1765
+ ],
1766
+ "joint_positions": [
1767
+ -0.0,
1768
+ 0.8519573211669922
1769
+ ],
1770
+ "cam_pose": [
1771
+ -2.4222359657287598,
1772
+ -0.16418777406215668,
1773
+ 0.6312509179115295
1774
+ ],
1775
+ "cam_distance": 2.5085179805755615
1776
+ },
1777
+ {
1778
+ "frame": 93,
1779
+ "take": 8,
1780
+ "manipulation_level": 2,
1781
+ "active_joints": [
1782
+ 0,
1783
+ 2
1784
+ ],
1785
+ "joint_positions": [
1786
+ -0.0,
1787
+ 0.8785809874534607
1788
+ ],
1789
+ "cam_pose": [
1790
+ -2.4222359657287598,
1791
+ -0.16418777406215668,
1792
+ 0.6312509179115295
1793
+ ],
1794
+ "cam_distance": 2.5085179805755615
1795
+ },
1796
+ {
1797
+ "frame": 94,
1798
+ "take": 8,
1799
+ "manipulation_level": 2,
1800
+ "active_joints": [
1801
+ 0,
1802
+ 2
1803
+ ],
1804
+ "joint_positions": [
1805
+ -0.0,
1806
+ 0.9052046537399292
1807
+ ],
1808
+ "cam_pose": [
1809
+ -2.4222359657287598,
1810
+ -0.16418777406215668,
1811
+ 0.6312509179115295
1812
+ ],
1813
+ "cam_distance": 2.5085179805755615
1814
+ },
1815
+ {
1816
+ "frame": 95,
1817
+ "take": 8,
1818
+ "manipulation_level": 2,
1819
+ "active_joints": [
1820
+ 0,
1821
+ 2
1822
+ ],
1823
+ "joint_positions": [
1824
+ -0.0,
1825
+ 0.9318283200263977
1826
+ ],
1827
+ "cam_pose": [
1828
+ -2.4222359657287598,
1829
+ -0.16418777406215668,
1830
+ 0.6312509179115295
1831
+ ],
1832
+ "cam_distance": 2.5085179805755615
1833
+ },
1834
+ {
1835
+ "frame": 96,
1836
+ "take": 8,
1837
+ "manipulation_level": 2,
1838
+ "active_joints": [
1839
+ 0,
1840
+ 2
1841
+ ],
1842
+ "joint_positions": [
1843
+ -0.0,
1844
+ 0.9584519863128662
1845
+ ],
1846
+ "cam_pose": [
1847
+ -2.4222359657287598,
1848
+ -0.16418777406215668,
1849
+ 0.6312509179115295
1850
+ ],
1851
+ "cam_distance": 2.5085179805755615
1852
+ },
1853
+ {
1854
+ "frame": 97,
1855
+ "take": 8,
1856
+ "manipulation_level": 2,
1857
+ "active_joints": [
1858
+ 0,
1859
+ 2
1860
+ ],
1861
+ "joint_positions": [
1862
+ -0.0,
1863
+ 0.9850756525993347
1864
+ ],
1865
+ "cam_pose": [
1866
+ -2.4222359657287598,
1867
+ -0.16418777406215668,
1868
+ 0.6312509179115295
1869
+ ],
1870
+ "cam_distance": 2.5085179805755615
1871
+ },
1872
+ {
1873
+ "frame": 98,
1874
+ "take": 8,
1875
+ "manipulation_level": 2,
1876
+ "active_joints": [
1877
+ 0,
1878
+ 2
1879
+ ],
1880
+ "joint_positions": [
1881
+ -0.0,
1882
+ 1.0116993188858032
1883
+ ],
1884
+ "cam_pose": [
1885
+ -2.4222359657287598,
1886
+ -0.16418777406215668,
1887
+ 0.6312509179115295
1888
+ ],
1889
+ "cam_distance": 2.5085179805755615
1890
+ },
1891
+ {
1892
+ "frame": 99,
1893
+ "take": 8,
1894
+ "manipulation_level": 2,
1895
+ "active_joints": [
1896
+ 0,
1897
+ 2
1898
+ ],
1899
+ "joint_positions": [
1900
+ -0.0,
1901
+ 1.0383230447769165
1902
+ ],
1903
+ "cam_pose": [
1904
+ -2.4222359657287598,
1905
+ -0.16418777406215668,
1906
+ 0.6312509179115295
1907
+ ],
1908
+ "cam_distance": 2.5085179805755615
1909
+ },
1910
+ {
1911
+ "frame": 100,
1912
+ "take": 8,
1913
+ "manipulation_level": 2,
1914
+ "active_joints": [
1915
+ 0,
1916
+ 2
1917
+ ],
1918
+ "joint_positions": [
1919
+ -0.0,
1920
+ 1.0649466514587402
1921
+ ],
1922
+ "cam_pose": [
1923
+ -2.4222359657287598,
1924
+ -0.16418777406215668,
1925
+ 0.6312509179115295
1926
+ ],
1927
+ "cam_distance": 2.5085179805755615
1928
+ },
1929
+ {
1930
+ "frame": 101,
1931
+ "take": 8,
1932
+ "manipulation_level": 2,
1933
+ "active_joints": [
1934
+ 0,
1935
+ 2
1936
+ ],
1937
+ "joint_positions": [
1938
+ -0.0,
1939
+ 1.0915703773498535
1940
+ ],
1941
+ "cam_pose": [
1942
+ -2.4222359657287598,
1943
+ -0.16418777406215668,
1944
+ 0.6312509179115295
1945
+ ],
1946
+ "cam_distance": 2.5085179805755615
1947
+ },
1948
+ {
1949
+ "frame": 102,
1950
+ "take": 8,
1951
+ "manipulation_level": 2,
1952
+ "active_joints": [
1953
+ 0,
1954
+ 2
1955
+ ],
1956
+ "joint_positions": [
1957
+ -0.0,
1958
+ 1.1181939840316772
1959
+ ],
1960
+ "cam_pose": [
1961
+ -2.4222359657287598,
1962
+ -0.16418777406215668,
1963
+ 0.6312509179115295
1964
+ ],
1965
+ "cam_distance": 2.5085179805755615
1966
+ },
1967
+ {
1968
+ "frame": 103,
1969
+ "take": 8,
1970
+ "manipulation_level": 2,
1971
+ "active_joints": [
1972
+ 0,
1973
+ 2
1974
+ ],
1975
+ "joint_positions": [
1976
+ -0.0,
1977
+ 1.1448177099227905
1978
+ ],
1979
+ "cam_pose": [
1980
+ -2.4222359657287598,
1981
+ -0.16418777406215668,
1982
+ 0.6312509179115295
1983
+ ],
1984
+ "cam_distance": 2.5085179805755615
1985
+ },
1986
+ {
1987
+ "frame": 104,
1988
+ "take": 8,
1989
+ "manipulation_level": 2,
1990
+ "active_joints": [
1991
+ 0,
1992
+ 2
1993
+ ],
1994
+ "joint_positions": [
1995
+ -0.0,
1996
+ 1.1714413166046143
1997
+ ],
1998
+ "cam_pose": [
1999
+ -2.4222359657287598,
2000
+ -0.16418777406215668,
2001
+ 0.6312509179115295
2002
+ ],
2003
+ "cam_distance": 2.5085179805755615
2004
+ },
2005
+ {
2006
+ "frame": 105,
2007
+ "take": 8,
2008
+ "manipulation_level": 2,
2009
+ "active_joints": [
2010
+ 0,
2011
+ 2
2012
+ ],
2013
+ "joint_positions": [
2014
+ -0.0,
2015
+ 1.1980650424957275
2016
+ ],
2017
+ "cam_pose": [
2018
+ -2.4222359657287598,
2019
+ -0.16418777406215668,
2020
+ 0.6312509179115295
2021
+ ],
2022
+ "cam_distance": 2.5085179805755615
2023
+ },
2024
+ {
2025
+ "frame": 106,
2026
+ "take": 8,
2027
+ "manipulation_level": 2,
2028
+ "active_joints": [
2029
+ 0,
2030
+ 2
2031
+ ],
2032
+ "joint_positions": [
2033
+ -0.0,
2034
+ 1.2246886491775513
2035
+ ],
2036
+ "cam_pose": [
2037
+ -2.4222359657287598,
2038
+ -0.16418777406215668,
2039
+ 0.6312509179115295
2040
+ ],
2041
+ "cam_distance": 2.5085179805755615
2042
+ },
2043
+ {
2044
+ "frame": 107,
2045
+ "take": 8,
2046
+ "manipulation_level": 2,
2047
+ "active_joints": [
2048
+ 0,
2049
+ 2
2050
+ ],
2051
+ "joint_positions": [
2052
+ -0.0,
2053
+ 1.2513123750686646
2054
+ ],
2055
+ "cam_pose": [
2056
+ -2.4222359657287598,
2057
+ -0.16418777406215668,
2058
+ 0.6312509179115295
2059
+ ],
2060
+ "cam_distance": 2.5085179805755615
2061
+ },
2062
+ {
2063
+ "frame": 108,
2064
+ "take": 8,
2065
+ "manipulation_level": 2,
2066
+ "active_joints": [
2067
+ 0,
2068
+ 2
2069
+ ],
2070
+ "joint_positions": [
2071
+ -0.0,
2072
+ 1.2779359817504883
2073
+ ],
2074
+ "cam_pose": [
2075
+ -2.4222359657287598,
2076
+ -0.16418777406215668,
2077
+ 0.6312509179115295
2078
+ ],
2079
+ "cam_distance": 2.5085179805755615
2080
+ },
2081
+ {
2082
+ "frame": 109,
2083
+ "take": 8,
2084
+ "manipulation_level": 2,
2085
+ "active_joints": [
2086
+ 0,
2087
+ 2
2088
+ ],
2089
+ "joint_positions": [
2090
+ -0.0,
2091
+ 1.3045597076416016
2092
+ ],
2093
+ "cam_pose": [
2094
+ -2.4222359657287598,
2095
+ -0.16418777406215668,
2096
+ 0.6312509179115295
2097
+ ],
2098
+ "cam_distance": 2.5085179805755615
2099
+ },
2100
+ {
2101
+ "frame": 110,
2102
+ "take": 8,
2103
+ "manipulation_level": 2,
2104
+ "active_joints": [
2105
+ 0,
2106
+ 2
2107
+ ],
2108
+ "joint_positions": [
2109
+ -0.0,
2110
+ 1.3311833143234253
2111
+ ],
2112
+ "cam_pose": [
2113
+ -2.4222359657287598,
2114
+ -0.16418777406215668,
2115
+ 0.6312509179115295
2116
+ ],
2117
+ "cam_distance": 2.5085179805755615
2118
+ },
2119
+ {
2120
+ "frame": 111,
2121
+ "take": 8,
2122
+ "manipulation_level": 2,
2123
+ "active_joints": [
2124
+ 0,
2125
+ 2
2126
+ ],
2127
+ "joint_positions": [
2128
+ -0.0,
2129
+ 1.3578070402145386
2130
+ ],
2131
+ "cam_pose": [
2132
+ -2.4222359657287598,
2133
+ -0.16418777406215668,
2134
+ 0.6312509179115295
2135
+ ],
2136
+ "cam_distance": 2.5085179805755615
2137
+ },
2138
+ {
2139
+ "frame": 112,
2140
+ "take": 8,
2141
+ "manipulation_level": 2,
2142
+ "active_joints": [
2143
+ 0,
2144
+ 2
2145
+ ],
2146
+ "joint_positions": [
2147
+ -0.0,
2148
+ 1.3844306468963623
2149
+ ],
2150
+ "cam_pose": [
2151
+ -2.4222359657287598,
2152
+ -0.16418777406215668,
2153
+ 0.6312509179115295
2154
+ ],
2155
+ "cam_distance": 2.5085179805755615
2156
+ },
2157
+ {
2158
+ "frame": 113,
2159
+ "take": 8,
2160
+ "manipulation_level": 2,
2161
+ "active_joints": [
2162
+ 0,
2163
+ 2
2164
+ ],
2165
+ "joint_positions": [
2166
+ -0.0,
2167
+ 1.4110543727874756
2168
+ ],
2169
+ "cam_pose": [
2170
+ -2.4222359657287598,
2171
+ -0.16418777406215668,
2172
+ 0.6312509179115295
2173
+ ],
2174
+ "cam_distance": 2.5085179805755615
2175
+ },
2176
+ {
2177
+ "frame": 114,
2178
+ "take": 8,
2179
+ "manipulation_level": 2,
2180
+ "active_joints": [
2181
+ 0,
2182
+ 2
2183
+ ],
2184
+ "joint_positions": [
2185
+ -0.0,
2186
+ 1.4376779794692993
2187
+ ],
2188
+ "cam_pose": [
2189
+ -2.4222359657287598,
2190
+ -0.16418777406215668,
2191
+ 0.6312509179115295
2192
+ ],
2193
+ "cam_distance": 2.5085179805755615
2194
+ },
2195
+ {
2196
+ "frame": 115,
2197
+ "take": 8,
2198
+ "manipulation_level": 2,
2199
+ "active_joints": [
2200
+ 0,
2201
+ 2
2202
+ ],
2203
+ "joint_positions": [
2204
+ -0.0,
2205
+ 1.4643017053604126
2206
+ ],
2207
+ "cam_pose": [
2208
+ -2.4222359657287598,
2209
+ -0.16418777406215668,
2210
+ 0.6312509179115295
2211
+ ],
2212
+ "cam_distance": 2.5085179805755615
2213
+ },
2214
+ {
2215
+ "frame": 116,
2216
+ "take": 8,
2217
+ "manipulation_level": 2,
2218
+ "active_joints": [
2219
+ 0,
2220
+ 2
2221
+ ],
2222
+ "joint_positions": [
2223
+ -0.0,
2224
+ 1.4909253120422363
2225
+ ],
2226
+ "cam_pose": [
2227
+ -2.4222359657287598,
2228
+ -0.16418777406215668,
2229
+ 0.6312509179115295
2230
+ ],
2231
+ "cam_distance": 2.5085179805755615
2232
+ },
2233
+ {
2234
+ "frame": 117,
2235
+ "take": 8,
2236
+ "manipulation_level": 2,
2237
+ "active_joints": [
2238
+ 0,
2239
+ 2
2240
+ ],
2241
+ "joint_positions": [
2242
+ -0.0,
2243
+ 1.5175490379333496
2244
+ ],
2245
+ "cam_pose": [
2246
+ -2.4222359657287598,
2247
+ -0.16418777406215668,
2248
+ 0.6312509179115295
2249
+ ],
2250
+ "cam_distance": 2.5085179805755615
2251
+ },
2252
+ {
2253
+ "frame": 118,
2254
+ "take": 8,
2255
+ "manipulation_level": 2,
2256
+ "active_joints": [
2257
+ 0,
2258
+ 2
2259
+ ],
2260
+ "joint_positions": [
2261
+ -0.0,
2262
+ 1.5441726446151733
2263
+ ],
2264
+ "cam_pose": [
2265
+ -2.4222359657287598,
2266
+ -0.16418777406215668,
2267
+ 0.6312509179115295
2268
+ ],
2269
+ "cam_distance": 2.5085179805755615
2270
+ },
2271
+ {
2272
+ "frame": 119,
2273
+ "take": 8,
2274
+ "manipulation_level": 2,
2275
+ "active_joints": [
2276
+ 0,
2277
+ 2
2278
+ ],
2279
+ "joint_positions": [
2280
+ -0.0,
2281
+ 1.5707963705062866
2282
+ ],
2283
+ "cam_pose": [
2284
+ -2.4222359657287598,
2285
+ -0.16418777406215668,
2286
+ 0.6312509179115295
2287
+ ],
2288
+ "cam_distance": 2.5085179805755615
2289
+ }
2290
+ ]
2291
+ }
41003/take_09/metadata.json ADDED
@@ -0,0 +1,2291 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object_id": "41003",
3
+ "manipulation_level": 2,
4
+ "active_joints": [
5
+ 0,
6
+ 3
7
+ ],
8
+ "total_joints": 4,
9
+ "frames": [
10
+ {
11
+ "frame": 0,
12
+ "take": 9,
13
+ "manipulation_level": 2,
14
+ "active_joints": [
15
+ 0,
16
+ 3
17
+ ],
18
+ "joint_positions": [
19
+ 0.0,
20
+ -0.0
21
+ ],
22
+ "cam_pose": [
23
+ -2.544144868850708,
24
+ 0.30695703625679016,
25
+ 0.38372063636779785
26
+ ],
27
+ "cam_distance": 2.59116530418396
28
+ },
29
+ {
30
+ "frame": 1,
31
+ "take": 9,
32
+ "manipulation_level": 2,
33
+ "active_joints": [
34
+ 0,
35
+ 3
36
+ ],
37
+ "joint_positions": [
38
+ 0.026623666286468506,
39
+ -0.0
40
+ ],
41
+ "cam_pose": [
42
+ -2.544144868850708,
43
+ 0.30695703625679016,
44
+ 0.38372063636779785
45
+ ],
46
+ "cam_distance": 2.59116530418396
47
+ },
48
+ {
49
+ "frame": 2,
50
+ "take": 9,
51
+ "manipulation_level": 2,
52
+ "active_joints": [
53
+ 0,
54
+ 3
55
+ ],
56
+ "joint_positions": [
57
+ 0.05324733257293701,
58
+ -0.0
59
+ ],
60
+ "cam_pose": [
61
+ -2.544144868850708,
62
+ 0.30695703625679016,
63
+ 0.38372063636779785
64
+ ],
65
+ "cam_distance": 2.59116530418396
66
+ },
67
+ {
68
+ "frame": 3,
69
+ "take": 9,
70
+ "manipulation_level": 2,
71
+ "active_joints": [
72
+ 0,
73
+ 3
74
+ ],
75
+ "joint_positions": [
76
+ 0.07987099885940552,
77
+ -0.0
78
+ ],
79
+ "cam_pose": [
80
+ -2.544144868850708,
81
+ 0.30695703625679016,
82
+ 0.38372063636779785
83
+ ],
84
+ "cam_distance": 2.59116530418396
85
+ },
86
+ {
87
+ "frame": 4,
88
+ "take": 9,
89
+ "manipulation_level": 2,
90
+ "active_joints": [
91
+ 0,
92
+ 3
93
+ ],
94
+ "joint_positions": [
95
+ 0.10649466514587402,
96
+ -0.0
97
+ ],
98
+ "cam_pose": [
99
+ -2.544144868850708,
100
+ 0.30695703625679016,
101
+ 0.38372063636779785
102
+ ],
103
+ "cam_distance": 2.59116530418396
104
+ },
105
+ {
106
+ "frame": 5,
107
+ "take": 9,
108
+ "manipulation_level": 2,
109
+ "active_joints": [
110
+ 0,
111
+ 3
112
+ ],
113
+ "joint_positions": [
114
+ 0.13311833143234253,
115
+ -0.0
116
+ ],
117
+ "cam_pose": [
118
+ -2.544144868850708,
119
+ 0.30695703625679016,
120
+ 0.38372063636779785
121
+ ],
122
+ "cam_distance": 2.59116530418396
123
+ },
124
+ {
125
+ "frame": 6,
126
+ "take": 9,
127
+ "manipulation_level": 2,
128
+ "active_joints": [
129
+ 0,
130
+ 3
131
+ ],
132
+ "joint_positions": [
133
+ 0.15974199771881104,
134
+ -0.0
135
+ ],
136
+ "cam_pose": [
137
+ -2.544144868850708,
138
+ 0.30695703625679016,
139
+ 0.38372063636779785
140
+ ],
141
+ "cam_distance": 2.59116530418396
142
+ },
143
+ {
144
+ "frame": 7,
145
+ "take": 9,
146
+ "manipulation_level": 2,
147
+ "active_joints": [
148
+ 0,
149
+ 3
150
+ ],
151
+ "joint_positions": [
152
+ 0.18636566400527954,
153
+ -0.0
154
+ ],
155
+ "cam_pose": [
156
+ -2.544144868850708,
157
+ 0.30695703625679016,
158
+ 0.38372063636779785
159
+ ],
160
+ "cam_distance": 2.59116530418396
161
+ },
162
+ {
163
+ "frame": 8,
164
+ "take": 9,
165
+ "manipulation_level": 2,
166
+ "active_joints": [
167
+ 0,
168
+ 3
169
+ ],
170
+ "joint_positions": [
171
+ 0.21298933029174805,
172
+ -0.0
173
+ ],
174
+ "cam_pose": [
175
+ -2.544144868850708,
176
+ 0.30695703625679016,
177
+ 0.38372063636779785
178
+ ],
179
+ "cam_distance": 2.59116530418396
180
+ },
181
+ {
182
+ "frame": 9,
183
+ "take": 9,
184
+ "manipulation_level": 2,
185
+ "active_joints": [
186
+ 0,
187
+ 3
188
+ ],
189
+ "joint_positions": [
190
+ 0.23961299657821655,
191
+ -0.0
192
+ ],
193
+ "cam_pose": [
194
+ -2.544144868850708,
195
+ 0.30695703625679016,
196
+ 0.38372063636779785
197
+ ],
198
+ "cam_distance": 2.59116530418396
199
+ },
200
+ {
201
+ "frame": 10,
202
+ "take": 9,
203
+ "manipulation_level": 2,
204
+ "active_joints": [
205
+ 0,
206
+ 3
207
+ ],
208
+ "joint_positions": [
209
+ 0.26623666286468506,
210
+ -0.0
211
+ ],
212
+ "cam_pose": [
213
+ -2.544144868850708,
214
+ 0.30695703625679016,
215
+ 0.38372063636779785
216
+ ],
217
+ "cam_distance": 2.59116530418396
218
+ },
219
+ {
220
+ "frame": 11,
221
+ "take": 9,
222
+ "manipulation_level": 2,
223
+ "active_joints": [
224
+ 0,
225
+ 3
226
+ ],
227
+ "joint_positions": [
228
+ 0.29286032915115356,
229
+ -0.0
230
+ ],
231
+ "cam_pose": [
232
+ -2.544144868850708,
233
+ 0.30695703625679016,
234
+ 0.38372063636779785
235
+ ],
236
+ "cam_distance": 2.59116530418396
237
+ },
238
+ {
239
+ "frame": 12,
240
+ "take": 9,
241
+ "manipulation_level": 2,
242
+ "active_joints": [
243
+ 0,
244
+ 3
245
+ ],
246
+ "joint_positions": [
247
+ 0.31948399543762207,
248
+ -0.0
249
+ ],
250
+ "cam_pose": [
251
+ -2.544144868850708,
252
+ 0.30695703625679016,
253
+ 0.38372063636779785
254
+ ],
255
+ "cam_distance": 2.59116530418396
256
+ },
257
+ {
258
+ "frame": 13,
259
+ "take": 9,
260
+ "manipulation_level": 2,
261
+ "active_joints": [
262
+ 0,
263
+ 3
264
+ ],
265
+ "joint_positions": [
266
+ 0.3461076617240906,
267
+ -0.0
268
+ ],
269
+ "cam_pose": [
270
+ -2.544144868850708,
271
+ 0.30695703625679016,
272
+ 0.38372063636779785
273
+ ],
274
+ "cam_distance": 2.59116530418396
275
+ },
276
+ {
277
+ "frame": 14,
278
+ "take": 9,
279
+ "manipulation_level": 2,
280
+ "active_joints": [
281
+ 0,
282
+ 3
283
+ ],
284
+ "joint_positions": [
285
+ 0.3727313280105591,
286
+ -0.0
287
+ ],
288
+ "cam_pose": [
289
+ -2.544144868850708,
290
+ 0.30695703625679016,
291
+ 0.38372063636779785
292
+ ],
293
+ "cam_distance": 2.59116530418396
294
+ },
295
+ {
296
+ "frame": 15,
297
+ "take": 9,
298
+ "manipulation_level": 2,
299
+ "active_joints": [
300
+ 0,
301
+ 3
302
+ ],
303
+ "joint_positions": [
304
+ 0.3993549942970276,
305
+ -0.0
306
+ ],
307
+ "cam_pose": [
308
+ -2.544144868850708,
309
+ 0.30695703625679016,
310
+ 0.38372063636779785
311
+ ],
312
+ "cam_distance": 2.59116530418396
313
+ },
314
+ {
315
+ "frame": 16,
316
+ "take": 9,
317
+ "manipulation_level": 2,
318
+ "active_joints": [
319
+ 0,
320
+ 3
321
+ ],
322
+ "joint_positions": [
323
+ 0.4259786605834961,
324
+ -0.0
325
+ ],
326
+ "cam_pose": [
327
+ -2.544144868850708,
328
+ 0.30695703625679016,
329
+ 0.38372063636779785
330
+ ],
331
+ "cam_distance": 2.59116530418396
332
+ },
333
+ {
334
+ "frame": 17,
335
+ "take": 9,
336
+ "manipulation_level": 2,
337
+ "active_joints": [
338
+ 0,
339
+ 3
340
+ ],
341
+ "joint_positions": [
342
+ 0.4526023268699646,
343
+ -0.0
344
+ ],
345
+ "cam_pose": [
346
+ -2.544144868850708,
347
+ 0.30695703625679016,
348
+ 0.38372063636779785
349
+ ],
350
+ "cam_distance": 2.59116530418396
351
+ },
352
+ {
353
+ "frame": 18,
354
+ "take": 9,
355
+ "manipulation_level": 2,
356
+ "active_joints": [
357
+ 0,
358
+ 3
359
+ ],
360
+ "joint_positions": [
361
+ 0.4792259931564331,
362
+ -0.0
363
+ ],
364
+ "cam_pose": [
365
+ -2.544144868850708,
366
+ 0.30695703625679016,
367
+ 0.38372063636779785
368
+ ],
369
+ "cam_distance": 2.59116530418396
370
+ },
371
+ {
372
+ "frame": 19,
373
+ "take": 9,
374
+ "manipulation_level": 2,
375
+ "active_joints": [
376
+ 0,
377
+ 3
378
+ ],
379
+ "joint_positions": [
380
+ 0.5058496594429016,
381
+ -0.0
382
+ ],
383
+ "cam_pose": [
384
+ -2.544144868850708,
385
+ 0.30695703625679016,
386
+ 0.38372063636779785
387
+ ],
388
+ "cam_distance": 2.59116530418396
389
+ },
390
+ {
391
+ "frame": 20,
392
+ "take": 9,
393
+ "manipulation_level": 2,
394
+ "active_joints": [
395
+ 0,
396
+ 3
397
+ ],
398
+ "joint_positions": [
399
+ 0.5324733257293701,
400
+ -0.0
401
+ ],
402
+ "cam_pose": [
403
+ -2.544144868850708,
404
+ 0.30695703625679016,
405
+ 0.38372063636779785
406
+ ],
407
+ "cam_distance": 2.59116530418396
408
+ },
409
+ {
410
+ "frame": 21,
411
+ "take": 9,
412
+ "manipulation_level": 2,
413
+ "active_joints": [
414
+ 0,
415
+ 3
416
+ ],
417
+ "joint_positions": [
418
+ 0.5590969920158386,
419
+ -0.0
420
+ ],
421
+ "cam_pose": [
422
+ -2.544144868850708,
423
+ 0.30695703625679016,
424
+ 0.38372063636779785
425
+ ],
426
+ "cam_distance": 2.59116530418396
427
+ },
428
+ {
429
+ "frame": 22,
430
+ "take": 9,
431
+ "manipulation_level": 2,
432
+ "active_joints": [
433
+ 0,
434
+ 3
435
+ ],
436
+ "joint_positions": [
437
+ 0.5857206583023071,
438
+ -0.0
439
+ ],
440
+ "cam_pose": [
441
+ -2.544144868850708,
442
+ 0.30695703625679016,
443
+ 0.38372063636779785
444
+ ],
445
+ "cam_distance": 2.59116530418396
446
+ },
447
+ {
448
+ "frame": 23,
449
+ "take": 9,
450
+ "manipulation_level": 2,
451
+ "active_joints": [
452
+ 0,
453
+ 3
454
+ ],
455
+ "joint_positions": [
456
+ 0.6123443245887756,
457
+ -0.0
458
+ ],
459
+ "cam_pose": [
460
+ -2.544144868850708,
461
+ 0.30695703625679016,
462
+ 0.38372063636779785
463
+ ],
464
+ "cam_distance": 2.59116530418396
465
+ },
466
+ {
467
+ "frame": 24,
468
+ "take": 9,
469
+ "manipulation_level": 2,
470
+ "active_joints": [
471
+ 0,
472
+ 3
473
+ ],
474
+ "joint_positions": [
475
+ 0.6389679908752441,
476
+ -0.0
477
+ ],
478
+ "cam_pose": [
479
+ -2.544144868850708,
480
+ 0.30695703625679016,
481
+ 0.38372063636779785
482
+ ],
483
+ "cam_distance": 2.59116530418396
484
+ },
485
+ {
486
+ "frame": 25,
487
+ "take": 9,
488
+ "manipulation_level": 2,
489
+ "active_joints": [
490
+ 0,
491
+ 3
492
+ ],
493
+ "joint_positions": [
494
+ 0.6655916571617126,
495
+ -0.0
496
+ ],
497
+ "cam_pose": [
498
+ -2.544144868850708,
499
+ 0.30695703625679016,
500
+ 0.38372063636779785
501
+ ],
502
+ "cam_distance": 2.59116530418396
503
+ },
504
+ {
505
+ "frame": 26,
506
+ "take": 9,
507
+ "manipulation_level": 2,
508
+ "active_joints": [
509
+ 0,
510
+ 3
511
+ ],
512
+ "joint_positions": [
513
+ 0.6922153234481812,
514
+ -0.0
515
+ ],
516
+ "cam_pose": [
517
+ -2.544144868850708,
518
+ 0.30695703625679016,
519
+ 0.38372063636779785
520
+ ],
521
+ "cam_distance": 2.59116530418396
522
+ },
523
+ {
524
+ "frame": 27,
525
+ "take": 9,
526
+ "manipulation_level": 2,
527
+ "active_joints": [
528
+ 0,
529
+ 3
530
+ ],
531
+ "joint_positions": [
532
+ 0.7188389897346497,
533
+ -0.0
534
+ ],
535
+ "cam_pose": [
536
+ -2.544144868850708,
537
+ 0.30695703625679016,
538
+ 0.38372063636779785
539
+ ],
540
+ "cam_distance": 2.59116530418396
541
+ },
542
+ {
543
+ "frame": 28,
544
+ "take": 9,
545
+ "manipulation_level": 2,
546
+ "active_joints": [
547
+ 0,
548
+ 3
549
+ ],
550
+ "joint_positions": [
551
+ 0.7454626560211182,
552
+ -0.0
553
+ ],
554
+ "cam_pose": [
555
+ -2.544144868850708,
556
+ 0.30695703625679016,
557
+ 0.38372063636779785
558
+ ],
559
+ "cam_distance": 2.59116530418396
560
+ },
561
+ {
562
+ "frame": 29,
563
+ "take": 9,
564
+ "manipulation_level": 2,
565
+ "active_joints": [
566
+ 0,
567
+ 3
568
+ ],
569
+ "joint_positions": [
570
+ 0.7720863223075867,
571
+ -0.0
572
+ ],
573
+ "cam_pose": [
574
+ -2.544144868850708,
575
+ 0.30695703625679016,
576
+ 0.38372063636779785
577
+ ],
578
+ "cam_distance": 2.59116530418396
579
+ },
580
+ {
581
+ "frame": 30,
582
+ "take": 9,
583
+ "manipulation_level": 2,
584
+ "active_joints": [
585
+ 0,
586
+ 3
587
+ ],
588
+ "joint_positions": [
589
+ 0.7987099885940552,
590
+ -0.0
591
+ ],
592
+ "cam_pose": [
593
+ -2.544144868850708,
594
+ 0.30695703625679016,
595
+ 0.38372063636779785
596
+ ],
597
+ "cam_distance": 2.59116530418396
598
+ },
599
+ {
600
+ "frame": 31,
601
+ "take": 9,
602
+ "manipulation_level": 2,
603
+ "active_joints": [
604
+ 0,
605
+ 3
606
+ ],
607
+ "joint_positions": [
608
+ 0.8253336548805237,
609
+ -0.0
610
+ ],
611
+ "cam_pose": [
612
+ -2.544144868850708,
613
+ 0.30695703625679016,
614
+ 0.38372063636779785
615
+ ],
616
+ "cam_distance": 2.59116530418396
617
+ },
618
+ {
619
+ "frame": 32,
620
+ "take": 9,
621
+ "manipulation_level": 2,
622
+ "active_joints": [
623
+ 0,
624
+ 3
625
+ ],
626
+ "joint_positions": [
627
+ 0.8519573211669922,
628
+ -0.0
629
+ ],
630
+ "cam_pose": [
631
+ -2.544144868850708,
632
+ 0.30695703625679016,
633
+ 0.38372063636779785
634
+ ],
635
+ "cam_distance": 2.59116530418396
636
+ },
637
+ {
638
+ "frame": 33,
639
+ "take": 9,
640
+ "manipulation_level": 2,
641
+ "active_joints": [
642
+ 0,
643
+ 3
644
+ ],
645
+ "joint_positions": [
646
+ 0.8785809874534607,
647
+ -0.0
648
+ ],
649
+ "cam_pose": [
650
+ -2.544144868850708,
651
+ 0.30695703625679016,
652
+ 0.38372063636779785
653
+ ],
654
+ "cam_distance": 2.59116530418396
655
+ },
656
+ {
657
+ "frame": 34,
658
+ "take": 9,
659
+ "manipulation_level": 2,
660
+ "active_joints": [
661
+ 0,
662
+ 3
663
+ ],
664
+ "joint_positions": [
665
+ 0.9052046537399292,
666
+ -0.0
667
+ ],
668
+ "cam_pose": [
669
+ -2.544144868850708,
670
+ 0.30695703625679016,
671
+ 0.38372063636779785
672
+ ],
673
+ "cam_distance": 2.59116530418396
674
+ },
675
+ {
676
+ "frame": 35,
677
+ "take": 9,
678
+ "manipulation_level": 2,
679
+ "active_joints": [
680
+ 0,
681
+ 3
682
+ ],
683
+ "joint_positions": [
684
+ 0.9318283200263977,
685
+ -0.0
686
+ ],
687
+ "cam_pose": [
688
+ -2.544144868850708,
689
+ 0.30695703625679016,
690
+ 0.38372063636779785
691
+ ],
692
+ "cam_distance": 2.59116530418396
693
+ },
694
+ {
695
+ "frame": 36,
696
+ "take": 9,
697
+ "manipulation_level": 2,
698
+ "active_joints": [
699
+ 0,
700
+ 3
701
+ ],
702
+ "joint_positions": [
703
+ 0.9584519863128662,
704
+ -0.0
705
+ ],
706
+ "cam_pose": [
707
+ -2.544144868850708,
708
+ 0.30695703625679016,
709
+ 0.38372063636779785
710
+ ],
711
+ "cam_distance": 2.59116530418396
712
+ },
713
+ {
714
+ "frame": 37,
715
+ "take": 9,
716
+ "manipulation_level": 2,
717
+ "active_joints": [
718
+ 0,
719
+ 3
720
+ ],
721
+ "joint_positions": [
722
+ 0.9850756525993347,
723
+ -0.0
724
+ ],
725
+ "cam_pose": [
726
+ -2.544144868850708,
727
+ 0.30695703625679016,
728
+ 0.38372063636779785
729
+ ],
730
+ "cam_distance": 2.59116530418396
731
+ },
732
+ {
733
+ "frame": 38,
734
+ "take": 9,
735
+ "manipulation_level": 2,
736
+ "active_joints": [
737
+ 0,
738
+ 3
739
+ ],
740
+ "joint_positions": [
741
+ 1.0116993188858032,
742
+ -0.0
743
+ ],
744
+ "cam_pose": [
745
+ -2.544144868850708,
746
+ 0.30695703625679016,
747
+ 0.38372063636779785
748
+ ],
749
+ "cam_distance": 2.59116530418396
750
+ },
751
+ {
752
+ "frame": 39,
753
+ "take": 9,
754
+ "manipulation_level": 2,
755
+ "active_joints": [
756
+ 0,
757
+ 3
758
+ ],
759
+ "joint_positions": [
760
+ 1.0383230447769165,
761
+ -0.0
762
+ ],
763
+ "cam_pose": [
764
+ -2.544144868850708,
765
+ 0.30695703625679016,
766
+ 0.38372063636779785
767
+ ],
768
+ "cam_distance": 2.59116530418396
769
+ },
770
+ {
771
+ "frame": 40,
772
+ "take": 9,
773
+ "manipulation_level": 2,
774
+ "active_joints": [
775
+ 0,
776
+ 3
777
+ ],
778
+ "joint_positions": [
779
+ 1.0649466514587402,
780
+ -0.0
781
+ ],
782
+ "cam_pose": [
783
+ -2.544144868850708,
784
+ 0.30695703625679016,
785
+ 0.38372063636779785
786
+ ],
787
+ "cam_distance": 2.59116530418396
788
+ },
789
+ {
790
+ "frame": 41,
791
+ "take": 9,
792
+ "manipulation_level": 2,
793
+ "active_joints": [
794
+ 0,
795
+ 3
796
+ ],
797
+ "joint_positions": [
798
+ 1.0915703773498535,
799
+ -0.0
800
+ ],
801
+ "cam_pose": [
802
+ -2.544144868850708,
803
+ 0.30695703625679016,
804
+ 0.38372063636779785
805
+ ],
806
+ "cam_distance": 2.59116530418396
807
+ },
808
+ {
809
+ "frame": 42,
810
+ "take": 9,
811
+ "manipulation_level": 2,
812
+ "active_joints": [
813
+ 0,
814
+ 3
815
+ ],
816
+ "joint_positions": [
817
+ 1.1181939840316772,
818
+ -0.0
819
+ ],
820
+ "cam_pose": [
821
+ -2.544144868850708,
822
+ 0.30695703625679016,
823
+ 0.38372063636779785
824
+ ],
825
+ "cam_distance": 2.59116530418396
826
+ },
827
+ {
828
+ "frame": 43,
829
+ "take": 9,
830
+ "manipulation_level": 2,
831
+ "active_joints": [
832
+ 0,
833
+ 3
834
+ ],
835
+ "joint_positions": [
836
+ 1.1448177099227905,
837
+ -0.0
838
+ ],
839
+ "cam_pose": [
840
+ -2.544144868850708,
841
+ 0.30695703625679016,
842
+ 0.38372063636779785
843
+ ],
844
+ "cam_distance": 2.59116530418396
845
+ },
846
+ {
847
+ "frame": 44,
848
+ "take": 9,
849
+ "manipulation_level": 2,
850
+ "active_joints": [
851
+ 0,
852
+ 3
853
+ ],
854
+ "joint_positions": [
855
+ 1.1714413166046143,
856
+ -0.0
857
+ ],
858
+ "cam_pose": [
859
+ -2.544144868850708,
860
+ 0.30695703625679016,
861
+ 0.38372063636779785
862
+ ],
863
+ "cam_distance": 2.59116530418396
864
+ },
865
+ {
866
+ "frame": 45,
867
+ "take": 9,
868
+ "manipulation_level": 2,
869
+ "active_joints": [
870
+ 0,
871
+ 3
872
+ ],
873
+ "joint_positions": [
874
+ 1.1980650424957275,
875
+ -0.0
876
+ ],
877
+ "cam_pose": [
878
+ -2.544144868850708,
879
+ 0.30695703625679016,
880
+ 0.38372063636779785
881
+ ],
882
+ "cam_distance": 2.59116530418396
883
+ },
884
+ {
885
+ "frame": 46,
886
+ "take": 9,
887
+ "manipulation_level": 2,
888
+ "active_joints": [
889
+ 0,
890
+ 3
891
+ ],
892
+ "joint_positions": [
893
+ 1.2246886491775513,
894
+ -0.0
895
+ ],
896
+ "cam_pose": [
897
+ -2.544144868850708,
898
+ 0.30695703625679016,
899
+ 0.38372063636779785
900
+ ],
901
+ "cam_distance": 2.59116530418396
902
+ },
903
+ {
904
+ "frame": 47,
905
+ "take": 9,
906
+ "manipulation_level": 2,
907
+ "active_joints": [
908
+ 0,
909
+ 3
910
+ ],
911
+ "joint_positions": [
912
+ 1.2513123750686646,
913
+ -0.0
914
+ ],
915
+ "cam_pose": [
916
+ -2.544144868850708,
917
+ 0.30695703625679016,
918
+ 0.38372063636779785
919
+ ],
920
+ "cam_distance": 2.59116530418396
921
+ },
922
+ {
923
+ "frame": 48,
924
+ "take": 9,
925
+ "manipulation_level": 2,
926
+ "active_joints": [
927
+ 0,
928
+ 3
929
+ ],
930
+ "joint_positions": [
931
+ 1.2779359817504883,
932
+ -0.0
933
+ ],
934
+ "cam_pose": [
935
+ -2.544144868850708,
936
+ 0.30695703625679016,
937
+ 0.38372063636779785
938
+ ],
939
+ "cam_distance": 2.59116530418396
940
+ },
941
+ {
942
+ "frame": 49,
943
+ "take": 9,
944
+ "manipulation_level": 2,
945
+ "active_joints": [
946
+ 0,
947
+ 3
948
+ ],
949
+ "joint_positions": [
950
+ 1.3045597076416016,
951
+ -0.0
952
+ ],
953
+ "cam_pose": [
954
+ -2.544144868850708,
955
+ 0.30695703625679016,
956
+ 0.38372063636779785
957
+ ],
958
+ "cam_distance": 2.59116530418396
959
+ },
960
+ {
961
+ "frame": 50,
962
+ "take": 9,
963
+ "manipulation_level": 2,
964
+ "active_joints": [
965
+ 0,
966
+ 3
967
+ ],
968
+ "joint_positions": [
969
+ 1.3311833143234253,
970
+ -0.0
971
+ ],
972
+ "cam_pose": [
973
+ -2.544144868850708,
974
+ 0.30695703625679016,
975
+ 0.38372063636779785
976
+ ],
977
+ "cam_distance": 2.59116530418396
978
+ },
979
+ {
980
+ "frame": 51,
981
+ "take": 9,
982
+ "manipulation_level": 2,
983
+ "active_joints": [
984
+ 0,
985
+ 3
986
+ ],
987
+ "joint_positions": [
988
+ 1.3578070402145386,
989
+ -0.0
990
+ ],
991
+ "cam_pose": [
992
+ -2.544144868850708,
993
+ 0.30695703625679016,
994
+ 0.38372063636779785
995
+ ],
996
+ "cam_distance": 2.59116530418396
997
+ },
998
+ {
999
+ "frame": 52,
1000
+ "take": 9,
1001
+ "manipulation_level": 2,
1002
+ "active_joints": [
1003
+ 0,
1004
+ 3
1005
+ ],
1006
+ "joint_positions": [
1007
+ 1.3844306468963623,
1008
+ -0.0
1009
+ ],
1010
+ "cam_pose": [
1011
+ -2.544144868850708,
1012
+ 0.30695703625679016,
1013
+ 0.38372063636779785
1014
+ ],
1015
+ "cam_distance": 2.59116530418396
1016
+ },
1017
+ {
1018
+ "frame": 53,
1019
+ "take": 9,
1020
+ "manipulation_level": 2,
1021
+ "active_joints": [
1022
+ 0,
1023
+ 3
1024
+ ],
1025
+ "joint_positions": [
1026
+ 1.4110543727874756,
1027
+ -0.0
1028
+ ],
1029
+ "cam_pose": [
1030
+ -2.544144868850708,
1031
+ 0.30695703625679016,
1032
+ 0.38372063636779785
1033
+ ],
1034
+ "cam_distance": 2.59116530418396
1035
+ },
1036
+ {
1037
+ "frame": 54,
1038
+ "take": 9,
1039
+ "manipulation_level": 2,
1040
+ "active_joints": [
1041
+ 0,
1042
+ 3
1043
+ ],
1044
+ "joint_positions": [
1045
+ 1.4376779794692993,
1046
+ -0.0
1047
+ ],
1048
+ "cam_pose": [
1049
+ -2.544144868850708,
1050
+ 0.30695703625679016,
1051
+ 0.38372063636779785
1052
+ ],
1053
+ "cam_distance": 2.59116530418396
1054
+ },
1055
+ {
1056
+ "frame": 55,
1057
+ "take": 9,
1058
+ "manipulation_level": 2,
1059
+ "active_joints": [
1060
+ 0,
1061
+ 3
1062
+ ],
1063
+ "joint_positions": [
1064
+ 1.4643017053604126,
1065
+ -0.0
1066
+ ],
1067
+ "cam_pose": [
1068
+ -2.544144868850708,
1069
+ 0.30695703625679016,
1070
+ 0.38372063636779785
1071
+ ],
1072
+ "cam_distance": 2.59116530418396
1073
+ },
1074
+ {
1075
+ "frame": 56,
1076
+ "take": 9,
1077
+ "manipulation_level": 2,
1078
+ "active_joints": [
1079
+ 0,
1080
+ 3
1081
+ ],
1082
+ "joint_positions": [
1083
+ 1.4909253120422363,
1084
+ -0.0
1085
+ ],
1086
+ "cam_pose": [
1087
+ -2.544144868850708,
1088
+ 0.30695703625679016,
1089
+ 0.38372063636779785
1090
+ ],
1091
+ "cam_distance": 2.59116530418396
1092
+ },
1093
+ {
1094
+ "frame": 57,
1095
+ "take": 9,
1096
+ "manipulation_level": 2,
1097
+ "active_joints": [
1098
+ 0,
1099
+ 3
1100
+ ],
1101
+ "joint_positions": [
1102
+ 1.5175490379333496,
1103
+ -0.0
1104
+ ],
1105
+ "cam_pose": [
1106
+ -2.544144868850708,
1107
+ 0.30695703625679016,
1108
+ 0.38372063636779785
1109
+ ],
1110
+ "cam_distance": 2.59116530418396
1111
+ },
1112
+ {
1113
+ "frame": 58,
1114
+ "take": 9,
1115
+ "manipulation_level": 2,
1116
+ "active_joints": [
1117
+ 0,
1118
+ 3
1119
+ ],
1120
+ "joint_positions": [
1121
+ 1.5441726446151733,
1122
+ -0.0
1123
+ ],
1124
+ "cam_pose": [
1125
+ -2.544144868850708,
1126
+ 0.30695703625679016,
1127
+ 0.38372063636779785
1128
+ ],
1129
+ "cam_distance": 2.59116530418396
1130
+ },
1131
+ {
1132
+ "frame": 59,
1133
+ "take": 9,
1134
+ "manipulation_level": 2,
1135
+ "active_joints": [
1136
+ 0,
1137
+ 3
1138
+ ],
1139
+ "joint_positions": [
1140
+ 1.5707963705062866,
1141
+ -0.0
1142
+ ],
1143
+ "cam_pose": [
1144
+ -2.544144868850708,
1145
+ 0.30695703625679016,
1146
+ 0.38372063636779785
1147
+ ],
1148
+ "cam_distance": 2.59116530418396
1149
+ },
1150
+ {
1151
+ "frame": 60,
1152
+ "take": 9,
1153
+ "manipulation_level": 2,
1154
+ "active_joints": [
1155
+ 0,
1156
+ 3
1157
+ ],
1158
+ "joint_positions": [
1159
+ -0.0,
1160
+ 0.0
1161
+ ],
1162
+ "cam_pose": [
1163
+ -2.544144868850708,
1164
+ 0.30695703625679016,
1165
+ 0.38372063636779785
1166
+ ],
1167
+ "cam_distance": 2.59116530418396
1168
+ },
1169
+ {
1170
+ "frame": 61,
1171
+ "take": 9,
1172
+ "manipulation_level": 2,
1173
+ "active_joints": [
1174
+ 0,
1175
+ 3
1176
+ ],
1177
+ "joint_positions": [
1178
+ -0.0,
1179
+ 0.026623666286468506
1180
+ ],
1181
+ "cam_pose": [
1182
+ -2.544144868850708,
1183
+ 0.30695703625679016,
1184
+ 0.38372063636779785
1185
+ ],
1186
+ "cam_distance": 2.59116530418396
1187
+ },
1188
+ {
1189
+ "frame": 62,
1190
+ "take": 9,
1191
+ "manipulation_level": 2,
1192
+ "active_joints": [
1193
+ 0,
1194
+ 3
1195
+ ],
1196
+ "joint_positions": [
1197
+ -0.0,
1198
+ 0.05324733257293701
1199
+ ],
1200
+ "cam_pose": [
1201
+ -2.544144868850708,
1202
+ 0.30695703625679016,
1203
+ 0.38372063636779785
1204
+ ],
1205
+ "cam_distance": 2.59116530418396
1206
+ },
1207
+ {
1208
+ "frame": 63,
1209
+ "take": 9,
1210
+ "manipulation_level": 2,
1211
+ "active_joints": [
1212
+ 0,
1213
+ 3
1214
+ ],
1215
+ "joint_positions": [
1216
+ -0.0,
1217
+ 0.07987099885940552
1218
+ ],
1219
+ "cam_pose": [
1220
+ -2.544144868850708,
1221
+ 0.30695703625679016,
1222
+ 0.38372063636779785
1223
+ ],
1224
+ "cam_distance": 2.59116530418396
1225
+ },
1226
+ {
1227
+ "frame": 64,
1228
+ "take": 9,
1229
+ "manipulation_level": 2,
1230
+ "active_joints": [
1231
+ 0,
1232
+ 3
1233
+ ],
1234
+ "joint_positions": [
1235
+ -0.0,
1236
+ 0.10649466514587402
1237
+ ],
1238
+ "cam_pose": [
1239
+ -2.544144868850708,
1240
+ 0.30695703625679016,
1241
+ 0.38372063636779785
1242
+ ],
1243
+ "cam_distance": 2.59116530418396
1244
+ },
1245
+ {
1246
+ "frame": 65,
1247
+ "take": 9,
1248
+ "manipulation_level": 2,
1249
+ "active_joints": [
1250
+ 0,
1251
+ 3
1252
+ ],
1253
+ "joint_positions": [
1254
+ -0.0,
1255
+ 0.13311833143234253
1256
+ ],
1257
+ "cam_pose": [
1258
+ -2.544144868850708,
1259
+ 0.30695703625679016,
1260
+ 0.38372063636779785
1261
+ ],
1262
+ "cam_distance": 2.59116530418396
1263
+ },
1264
+ {
1265
+ "frame": 66,
1266
+ "take": 9,
1267
+ "manipulation_level": 2,
1268
+ "active_joints": [
1269
+ 0,
1270
+ 3
1271
+ ],
1272
+ "joint_positions": [
1273
+ -0.0,
1274
+ 0.15974199771881104
1275
+ ],
1276
+ "cam_pose": [
1277
+ -2.544144868850708,
1278
+ 0.30695703625679016,
1279
+ 0.38372063636779785
1280
+ ],
1281
+ "cam_distance": 2.59116530418396
1282
+ },
1283
+ {
1284
+ "frame": 67,
1285
+ "take": 9,
1286
+ "manipulation_level": 2,
1287
+ "active_joints": [
1288
+ 0,
1289
+ 3
1290
+ ],
1291
+ "joint_positions": [
1292
+ -0.0,
1293
+ 0.18636566400527954
1294
+ ],
1295
+ "cam_pose": [
1296
+ -2.544144868850708,
1297
+ 0.30695703625679016,
1298
+ 0.38372063636779785
1299
+ ],
1300
+ "cam_distance": 2.59116530418396
1301
+ },
1302
+ {
1303
+ "frame": 68,
1304
+ "take": 9,
1305
+ "manipulation_level": 2,
1306
+ "active_joints": [
1307
+ 0,
1308
+ 3
1309
+ ],
1310
+ "joint_positions": [
1311
+ -0.0,
1312
+ 0.21298933029174805
1313
+ ],
1314
+ "cam_pose": [
1315
+ -2.544144868850708,
1316
+ 0.30695703625679016,
1317
+ 0.38372063636779785
1318
+ ],
1319
+ "cam_distance": 2.59116530418396
1320
+ },
1321
+ {
1322
+ "frame": 69,
1323
+ "take": 9,
1324
+ "manipulation_level": 2,
1325
+ "active_joints": [
1326
+ 0,
1327
+ 3
1328
+ ],
1329
+ "joint_positions": [
1330
+ -0.0,
1331
+ 0.23961299657821655
1332
+ ],
1333
+ "cam_pose": [
1334
+ -2.544144868850708,
1335
+ 0.30695703625679016,
1336
+ 0.38372063636779785
1337
+ ],
1338
+ "cam_distance": 2.59116530418396
1339
+ },
1340
+ {
1341
+ "frame": 70,
1342
+ "take": 9,
1343
+ "manipulation_level": 2,
1344
+ "active_joints": [
1345
+ 0,
1346
+ 3
1347
+ ],
1348
+ "joint_positions": [
1349
+ -0.0,
1350
+ 0.26623666286468506
1351
+ ],
1352
+ "cam_pose": [
1353
+ -2.544144868850708,
1354
+ 0.30695703625679016,
1355
+ 0.38372063636779785
1356
+ ],
1357
+ "cam_distance": 2.59116530418396
1358
+ },
1359
+ {
1360
+ "frame": 71,
1361
+ "take": 9,
1362
+ "manipulation_level": 2,
1363
+ "active_joints": [
1364
+ 0,
1365
+ 3
1366
+ ],
1367
+ "joint_positions": [
1368
+ -0.0,
1369
+ 0.29286032915115356
1370
+ ],
1371
+ "cam_pose": [
1372
+ -2.544144868850708,
1373
+ 0.30695703625679016,
1374
+ 0.38372063636779785
1375
+ ],
1376
+ "cam_distance": 2.59116530418396
1377
+ },
1378
+ {
1379
+ "frame": 72,
1380
+ "take": 9,
1381
+ "manipulation_level": 2,
1382
+ "active_joints": [
1383
+ 0,
1384
+ 3
1385
+ ],
1386
+ "joint_positions": [
1387
+ -0.0,
1388
+ 0.31948399543762207
1389
+ ],
1390
+ "cam_pose": [
1391
+ -2.544144868850708,
1392
+ 0.30695703625679016,
1393
+ 0.38372063636779785
1394
+ ],
1395
+ "cam_distance": 2.59116530418396
1396
+ },
1397
+ {
1398
+ "frame": 73,
1399
+ "take": 9,
1400
+ "manipulation_level": 2,
1401
+ "active_joints": [
1402
+ 0,
1403
+ 3
1404
+ ],
1405
+ "joint_positions": [
1406
+ -0.0,
1407
+ 0.3461076617240906
1408
+ ],
1409
+ "cam_pose": [
1410
+ -2.544144868850708,
1411
+ 0.30695703625679016,
1412
+ 0.38372063636779785
1413
+ ],
1414
+ "cam_distance": 2.59116530418396
1415
+ },
1416
+ {
1417
+ "frame": 74,
1418
+ "take": 9,
1419
+ "manipulation_level": 2,
1420
+ "active_joints": [
1421
+ 0,
1422
+ 3
1423
+ ],
1424
+ "joint_positions": [
1425
+ -0.0,
1426
+ 0.3727313280105591
1427
+ ],
1428
+ "cam_pose": [
1429
+ -2.544144868850708,
1430
+ 0.30695703625679016,
1431
+ 0.38372063636779785
1432
+ ],
1433
+ "cam_distance": 2.59116530418396
1434
+ },
1435
+ {
1436
+ "frame": 75,
1437
+ "take": 9,
1438
+ "manipulation_level": 2,
1439
+ "active_joints": [
1440
+ 0,
1441
+ 3
1442
+ ],
1443
+ "joint_positions": [
1444
+ -0.0,
1445
+ 0.3993549942970276
1446
+ ],
1447
+ "cam_pose": [
1448
+ -2.544144868850708,
1449
+ 0.30695703625679016,
1450
+ 0.38372063636779785
1451
+ ],
1452
+ "cam_distance": 2.59116530418396
1453
+ },
1454
+ {
1455
+ "frame": 76,
1456
+ "take": 9,
1457
+ "manipulation_level": 2,
1458
+ "active_joints": [
1459
+ 0,
1460
+ 3
1461
+ ],
1462
+ "joint_positions": [
1463
+ -0.0,
1464
+ 0.4259786605834961
1465
+ ],
1466
+ "cam_pose": [
1467
+ -2.544144868850708,
1468
+ 0.30695703625679016,
1469
+ 0.38372063636779785
1470
+ ],
1471
+ "cam_distance": 2.59116530418396
1472
+ },
1473
+ {
1474
+ "frame": 77,
1475
+ "take": 9,
1476
+ "manipulation_level": 2,
1477
+ "active_joints": [
1478
+ 0,
1479
+ 3
1480
+ ],
1481
+ "joint_positions": [
1482
+ -0.0,
1483
+ 0.4526023268699646
1484
+ ],
1485
+ "cam_pose": [
1486
+ -2.544144868850708,
1487
+ 0.30695703625679016,
1488
+ 0.38372063636779785
1489
+ ],
1490
+ "cam_distance": 2.59116530418396
1491
+ },
1492
+ {
1493
+ "frame": 78,
1494
+ "take": 9,
1495
+ "manipulation_level": 2,
1496
+ "active_joints": [
1497
+ 0,
1498
+ 3
1499
+ ],
1500
+ "joint_positions": [
1501
+ -0.0,
1502
+ 0.4792259931564331
1503
+ ],
1504
+ "cam_pose": [
1505
+ -2.544144868850708,
1506
+ 0.30695703625679016,
1507
+ 0.38372063636779785
1508
+ ],
1509
+ "cam_distance": 2.59116530418396
1510
+ },
1511
+ {
1512
+ "frame": 79,
1513
+ "take": 9,
1514
+ "manipulation_level": 2,
1515
+ "active_joints": [
1516
+ 0,
1517
+ 3
1518
+ ],
1519
+ "joint_positions": [
1520
+ -0.0,
1521
+ 0.5058496594429016
1522
+ ],
1523
+ "cam_pose": [
1524
+ -2.544144868850708,
1525
+ 0.30695703625679016,
1526
+ 0.38372063636779785
1527
+ ],
1528
+ "cam_distance": 2.59116530418396
1529
+ },
1530
+ {
1531
+ "frame": 80,
1532
+ "take": 9,
1533
+ "manipulation_level": 2,
1534
+ "active_joints": [
1535
+ 0,
1536
+ 3
1537
+ ],
1538
+ "joint_positions": [
1539
+ -0.0,
1540
+ 0.5324733257293701
1541
+ ],
1542
+ "cam_pose": [
1543
+ -2.544144868850708,
1544
+ 0.30695703625679016,
1545
+ 0.38372063636779785
1546
+ ],
1547
+ "cam_distance": 2.59116530418396
1548
+ },
1549
+ {
1550
+ "frame": 81,
1551
+ "take": 9,
1552
+ "manipulation_level": 2,
1553
+ "active_joints": [
1554
+ 0,
1555
+ 3
1556
+ ],
1557
+ "joint_positions": [
1558
+ -0.0,
1559
+ 0.5590969920158386
1560
+ ],
1561
+ "cam_pose": [
1562
+ -2.544144868850708,
1563
+ 0.30695703625679016,
1564
+ 0.38372063636779785
1565
+ ],
1566
+ "cam_distance": 2.59116530418396
1567
+ },
1568
+ {
1569
+ "frame": 82,
1570
+ "take": 9,
1571
+ "manipulation_level": 2,
1572
+ "active_joints": [
1573
+ 0,
1574
+ 3
1575
+ ],
1576
+ "joint_positions": [
1577
+ -0.0,
1578
+ 0.5857206583023071
1579
+ ],
1580
+ "cam_pose": [
1581
+ -2.544144868850708,
1582
+ 0.30695703625679016,
1583
+ 0.38372063636779785
1584
+ ],
1585
+ "cam_distance": 2.59116530418396
1586
+ },
1587
+ {
1588
+ "frame": 83,
1589
+ "take": 9,
1590
+ "manipulation_level": 2,
1591
+ "active_joints": [
1592
+ 0,
1593
+ 3
1594
+ ],
1595
+ "joint_positions": [
1596
+ -0.0,
1597
+ 0.6123443245887756
1598
+ ],
1599
+ "cam_pose": [
1600
+ -2.544144868850708,
1601
+ 0.30695703625679016,
1602
+ 0.38372063636779785
1603
+ ],
1604
+ "cam_distance": 2.59116530418396
1605
+ },
1606
+ {
1607
+ "frame": 84,
1608
+ "take": 9,
1609
+ "manipulation_level": 2,
1610
+ "active_joints": [
1611
+ 0,
1612
+ 3
1613
+ ],
1614
+ "joint_positions": [
1615
+ -0.0,
1616
+ 0.6389679908752441
1617
+ ],
1618
+ "cam_pose": [
1619
+ -2.544144868850708,
1620
+ 0.30695703625679016,
1621
+ 0.38372063636779785
1622
+ ],
1623
+ "cam_distance": 2.59116530418396
1624
+ },
1625
+ {
1626
+ "frame": 85,
1627
+ "take": 9,
1628
+ "manipulation_level": 2,
1629
+ "active_joints": [
1630
+ 0,
1631
+ 3
1632
+ ],
1633
+ "joint_positions": [
1634
+ -0.0,
1635
+ 0.6655916571617126
1636
+ ],
1637
+ "cam_pose": [
1638
+ -2.544144868850708,
1639
+ 0.30695703625679016,
1640
+ 0.38372063636779785
1641
+ ],
1642
+ "cam_distance": 2.59116530418396
1643
+ },
1644
+ {
1645
+ "frame": 86,
1646
+ "take": 9,
1647
+ "manipulation_level": 2,
1648
+ "active_joints": [
1649
+ 0,
1650
+ 3
1651
+ ],
1652
+ "joint_positions": [
1653
+ -0.0,
1654
+ 0.6922153234481812
1655
+ ],
1656
+ "cam_pose": [
1657
+ -2.544144868850708,
1658
+ 0.30695703625679016,
1659
+ 0.38372063636779785
1660
+ ],
1661
+ "cam_distance": 2.59116530418396
1662
+ },
1663
+ {
1664
+ "frame": 87,
1665
+ "take": 9,
1666
+ "manipulation_level": 2,
1667
+ "active_joints": [
1668
+ 0,
1669
+ 3
1670
+ ],
1671
+ "joint_positions": [
1672
+ -0.0,
1673
+ 0.7188389897346497
1674
+ ],
1675
+ "cam_pose": [
1676
+ -2.544144868850708,
1677
+ 0.30695703625679016,
1678
+ 0.38372063636779785
1679
+ ],
1680
+ "cam_distance": 2.59116530418396
1681
+ },
1682
+ {
1683
+ "frame": 88,
1684
+ "take": 9,
1685
+ "manipulation_level": 2,
1686
+ "active_joints": [
1687
+ 0,
1688
+ 3
1689
+ ],
1690
+ "joint_positions": [
1691
+ -0.0,
1692
+ 0.7454626560211182
1693
+ ],
1694
+ "cam_pose": [
1695
+ -2.544144868850708,
1696
+ 0.30695703625679016,
1697
+ 0.38372063636779785
1698
+ ],
1699
+ "cam_distance": 2.59116530418396
1700
+ },
1701
+ {
1702
+ "frame": 89,
1703
+ "take": 9,
1704
+ "manipulation_level": 2,
1705
+ "active_joints": [
1706
+ 0,
1707
+ 3
1708
+ ],
1709
+ "joint_positions": [
1710
+ -0.0,
1711
+ 0.7720863223075867
1712
+ ],
1713
+ "cam_pose": [
1714
+ -2.544144868850708,
1715
+ 0.30695703625679016,
1716
+ 0.38372063636779785
1717
+ ],
1718
+ "cam_distance": 2.59116530418396
1719
+ },
1720
+ {
1721
+ "frame": 90,
1722
+ "take": 9,
1723
+ "manipulation_level": 2,
1724
+ "active_joints": [
1725
+ 0,
1726
+ 3
1727
+ ],
1728
+ "joint_positions": [
1729
+ -0.0,
1730
+ 0.7987099885940552
1731
+ ],
1732
+ "cam_pose": [
1733
+ -2.544144868850708,
1734
+ 0.30695703625679016,
1735
+ 0.38372063636779785
1736
+ ],
1737
+ "cam_distance": 2.59116530418396
1738
+ },
1739
+ {
1740
+ "frame": 91,
1741
+ "take": 9,
1742
+ "manipulation_level": 2,
1743
+ "active_joints": [
1744
+ 0,
1745
+ 3
1746
+ ],
1747
+ "joint_positions": [
1748
+ -0.0,
1749
+ 0.8253336548805237
1750
+ ],
1751
+ "cam_pose": [
1752
+ -2.544144868850708,
1753
+ 0.30695703625679016,
1754
+ 0.38372063636779785
1755
+ ],
1756
+ "cam_distance": 2.59116530418396
1757
+ },
1758
+ {
1759
+ "frame": 92,
1760
+ "take": 9,
1761
+ "manipulation_level": 2,
1762
+ "active_joints": [
1763
+ 0,
1764
+ 3
1765
+ ],
1766
+ "joint_positions": [
1767
+ -0.0,
1768
+ 0.8519573211669922
1769
+ ],
1770
+ "cam_pose": [
1771
+ -2.544144868850708,
1772
+ 0.30695703625679016,
1773
+ 0.38372063636779785
1774
+ ],
1775
+ "cam_distance": 2.59116530418396
1776
+ },
1777
+ {
1778
+ "frame": 93,
1779
+ "take": 9,
1780
+ "manipulation_level": 2,
1781
+ "active_joints": [
1782
+ 0,
1783
+ 3
1784
+ ],
1785
+ "joint_positions": [
1786
+ -0.0,
1787
+ 0.8785809874534607
1788
+ ],
1789
+ "cam_pose": [
1790
+ -2.544144868850708,
1791
+ 0.30695703625679016,
1792
+ 0.38372063636779785
1793
+ ],
1794
+ "cam_distance": 2.59116530418396
1795
+ },
1796
+ {
1797
+ "frame": 94,
1798
+ "take": 9,
1799
+ "manipulation_level": 2,
1800
+ "active_joints": [
1801
+ 0,
1802
+ 3
1803
+ ],
1804
+ "joint_positions": [
1805
+ -0.0,
1806
+ 0.9052046537399292
1807
+ ],
1808
+ "cam_pose": [
1809
+ -2.544144868850708,
1810
+ 0.30695703625679016,
1811
+ 0.38372063636779785
1812
+ ],
1813
+ "cam_distance": 2.59116530418396
1814
+ },
1815
+ {
1816
+ "frame": 95,
1817
+ "take": 9,
1818
+ "manipulation_level": 2,
1819
+ "active_joints": [
1820
+ 0,
1821
+ 3
1822
+ ],
1823
+ "joint_positions": [
1824
+ -0.0,
1825
+ 0.9318283200263977
1826
+ ],
1827
+ "cam_pose": [
1828
+ -2.544144868850708,
1829
+ 0.30695703625679016,
1830
+ 0.38372063636779785
1831
+ ],
1832
+ "cam_distance": 2.59116530418396
1833
+ },
1834
+ {
1835
+ "frame": 96,
1836
+ "take": 9,
1837
+ "manipulation_level": 2,
1838
+ "active_joints": [
1839
+ 0,
1840
+ 3
1841
+ ],
1842
+ "joint_positions": [
1843
+ -0.0,
1844
+ 0.9584519863128662
1845
+ ],
1846
+ "cam_pose": [
1847
+ -2.544144868850708,
1848
+ 0.30695703625679016,
1849
+ 0.38372063636779785
1850
+ ],
1851
+ "cam_distance": 2.59116530418396
1852
+ },
1853
+ {
1854
+ "frame": 97,
1855
+ "take": 9,
1856
+ "manipulation_level": 2,
1857
+ "active_joints": [
1858
+ 0,
1859
+ 3
1860
+ ],
1861
+ "joint_positions": [
1862
+ -0.0,
1863
+ 0.9850756525993347
1864
+ ],
1865
+ "cam_pose": [
1866
+ -2.544144868850708,
1867
+ 0.30695703625679016,
1868
+ 0.38372063636779785
1869
+ ],
1870
+ "cam_distance": 2.59116530418396
1871
+ },
1872
+ {
1873
+ "frame": 98,
1874
+ "take": 9,
1875
+ "manipulation_level": 2,
1876
+ "active_joints": [
1877
+ 0,
1878
+ 3
1879
+ ],
1880
+ "joint_positions": [
1881
+ -0.0,
1882
+ 1.0116993188858032
1883
+ ],
1884
+ "cam_pose": [
1885
+ -2.544144868850708,
1886
+ 0.30695703625679016,
1887
+ 0.38372063636779785
1888
+ ],
1889
+ "cam_distance": 2.59116530418396
1890
+ },
1891
+ {
1892
+ "frame": 99,
1893
+ "take": 9,
1894
+ "manipulation_level": 2,
1895
+ "active_joints": [
1896
+ 0,
1897
+ 3
1898
+ ],
1899
+ "joint_positions": [
1900
+ -0.0,
1901
+ 1.0383230447769165
1902
+ ],
1903
+ "cam_pose": [
1904
+ -2.544144868850708,
1905
+ 0.30695703625679016,
1906
+ 0.38372063636779785
1907
+ ],
1908
+ "cam_distance": 2.59116530418396
1909
+ },
1910
+ {
1911
+ "frame": 100,
1912
+ "take": 9,
1913
+ "manipulation_level": 2,
1914
+ "active_joints": [
1915
+ 0,
1916
+ 3
1917
+ ],
1918
+ "joint_positions": [
1919
+ -0.0,
1920
+ 1.0649466514587402
1921
+ ],
1922
+ "cam_pose": [
1923
+ -2.544144868850708,
1924
+ 0.30695703625679016,
1925
+ 0.38372063636779785
1926
+ ],
1927
+ "cam_distance": 2.59116530418396
1928
+ },
1929
+ {
1930
+ "frame": 101,
1931
+ "take": 9,
1932
+ "manipulation_level": 2,
1933
+ "active_joints": [
1934
+ 0,
1935
+ 3
1936
+ ],
1937
+ "joint_positions": [
1938
+ -0.0,
1939
+ 1.0915703773498535
1940
+ ],
1941
+ "cam_pose": [
1942
+ -2.544144868850708,
1943
+ 0.30695703625679016,
1944
+ 0.38372063636779785
1945
+ ],
1946
+ "cam_distance": 2.59116530418396
1947
+ },
1948
+ {
1949
+ "frame": 102,
1950
+ "take": 9,
1951
+ "manipulation_level": 2,
1952
+ "active_joints": [
1953
+ 0,
1954
+ 3
1955
+ ],
1956
+ "joint_positions": [
1957
+ -0.0,
1958
+ 1.1181939840316772
1959
+ ],
1960
+ "cam_pose": [
1961
+ -2.544144868850708,
1962
+ 0.30695703625679016,
1963
+ 0.38372063636779785
1964
+ ],
1965
+ "cam_distance": 2.59116530418396
1966
+ },
1967
+ {
1968
+ "frame": 103,
1969
+ "take": 9,
1970
+ "manipulation_level": 2,
1971
+ "active_joints": [
1972
+ 0,
1973
+ 3
1974
+ ],
1975
+ "joint_positions": [
1976
+ -0.0,
1977
+ 1.1448177099227905
1978
+ ],
1979
+ "cam_pose": [
1980
+ -2.544144868850708,
1981
+ 0.30695703625679016,
1982
+ 0.38372063636779785
1983
+ ],
1984
+ "cam_distance": 2.59116530418396
1985
+ },
1986
+ {
1987
+ "frame": 104,
1988
+ "take": 9,
1989
+ "manipulation_level": 2,
1990
+ "active_joints": [
1991
+ 0,
1992
+ 3
1993
+ ],
1994
+ "joint_positions": [
1995
+ -0.0,
1996
+ 1.1714413166046143
1997
+ ],
1998
+ "cam_pose": [
1999
+ -2.544144868850708,
2000
+ 0.30695703625679016,
2001
+ 0.38372063636779785
2002
+ ],
2003
+ "cam_distance": 2.59116530418396
2004
+ },
2005
+ {
2006
+ "frame": 105,
2007
+ "take": 9,
2008
+ "manipulation_level": 2,
2009
+ "active_joints": [
2010
+ 0,
2011
+ 3
2012
+ ],
2013
+ "joint_positions": [
2014
+ -0.0,
2015
+ 1.1980650424957275
2016
+ ],
2017
+ "cam_pose": [
2018
+ -2.544144868850708,
2019
+ 0.30695703625679016,
2020
+ 0.38372063636779785
2021
+ ],
2022
+ "cam_distance": 2.59116530418396
2023
+ },
2024
+ {
2025
+ "frame": 106,
2026
+ "take": 9,
2027
+ "manipulation_level": 2,
2028
+ "active_joints": [
2029
+ 0,
2030
+ 3
2031
+ ],
2032
+ "joint_positions": [
2033
+ -0.0,
2034
+ 1.2246886491775513
2035
+ ],
2036
+ "cam_pose": [
2037
+ -2.544144868850708,
2038
+ 0.30695703625679016,
2039
+ 0.38372063636779785
2040
+ ],
2041
+ "cam_distance": 2.59116530418396
2042
+ },
2043
+ {
2044
+ "frame": 107,
2045
+ "take": 9,
2046
+ "manipulation_level": 2,
2047
+ "active_joints": [
2048
+ 0,
2049
+ 3
2050
+ ],
2051
+ "joint_positions": [
2052
+ -0.0,
2053
+ 1.2513123750686646
2054
+ ],
2055
+ "cam_pose": [
2056
+ -2.544144868850708,
2057
+ 0.30695703625679016,
2058
+ 0.38372063636779785
2059
+ ],
2060
+ "cam_distance": 2.59116530418396
2061
+ },
2062
+ {
2063
+ "frame": 108,
2064
+ "take": 9,
2065
+ "manipulation_level": 2,
2066
+ "active_joints": [
2067
+ 0,
2068
+ 3
2069
+ ],
2070
+ "joint_positions": [
2071
+ -0.0,
2072
+ 1.2779359817504883
2073
+ ],
2074
+ "cam_pose": [
2075
+ -2.544144868850708,
2076
+ 0.30695703625679016,
2077
+ 0.38372063636779785
2078
+ ],
2079
+ "cam_distance": 2.59116530418396
2080
+ },
2081
+ {
2082
+ "frame": 109,
2083
+ "take": 9,
2084
+ "manipulation_level": 2,
2085
+ "active_joints": [
2086
+ 0,
2087
+ 3
2088
+ ],
2089
+ "joint_positions": [
2090
+ -0.0,
2091
+ 1.3045597076416016
2092
+ ],
2093
+ "cam_pose": [
2094
+ -2.544144868850708,
2095
+ 0.30695703625679016,
2096
+ 0.38372063636779785
2097
+ ],
2098
+ "cam_distance": 2.59116530418396
2099
+ },
2100
+ {
2101
+ "frame": 110,
2102
+ "take": 9,
2103
+ "manipulation_level": 2,
2104
+ "active_joints": [
2105
+ 0,
2106
+ 3
2107
+ ],
2108
+ "joint_positions": [
2109
+ -0.0,
2110
+ 1.3311833143234253
2111
+ ],
2112
+ "cam_pose": [
2113
+ -2.544144868850708,
2114
+ 0.30695703625679016,
2115
+ 0.38372063636779785
2116
+ ],
2117
+ "cam_distance": 2.59116530418396
2118
+ },
2119
+ {
2120
+ "frame": 111,
2121
+ "take": 9,
2122
+ "manipulation_level": 2,
2123
+ "active_joints": [
2124
+ 0,
2125
+ 3
2126
+ ],
2127
+ "joint_positions": [
2128
+ -0.0,
2129
+ 1.3578070402145386
2130
+ ],
2131
+ "cam_pose": [
2132
+ -2.544144868850708,
2133
+ 0.30695703625679016,
2134
+ 0.38372063636779785
2135
+ ],
2136
+ "cam_distance": 2.59116530418396
2137
+ },
2138
+ {
2139
+ "frame": 112,
2140
+ "take": 9,
2141
+ "manipulation_level": 2,
2142
+ "active_joints": [
2143
+ 0,
2144
+ 3
2145
+ ],
2146
+ "joint_positions": [
2147
+ -0.0,
2148
+ 1.3844306468963623
2149
+ ],
2150
+ "cam_pose": [
2151
+ -2.544144868850708,
2152
+ 0.30695703625679016,
2153
+ 0.38372063636779785
2154
+ ],
2155
+ "cam_distance": 2.59116530418396
2156
+ },
2157
+ {
2158
+ "frame": 113,
2159
+ "take": 9,
2160
+ "manipulation_level": 2,
2161
+ "active_joints": [
2162
+ 0,
2163
+ 3
2164
+ ],
2165
+ "joint_positions": [
2166
+ -0.0,
2167
+ 1.4110543727874756
2168
+ ],
2169
+ "cam_pose": [
2170
+ -2.544144868850708,
2171
+ 0.30695703625679016,
2172
+ 0.38372063636779785
2173
+ ],
2174
+ "cam_distance": 2.59116530418396
2175
+ },
2176
+ {
2177
+ "frame": 114,
2178
+ "take": 9,
2179
+ "manipulation_level": 2,
2180
+ "active_joints": [
2181
+ 0,
2182
+ 3
2183
+ ],
2184
+ "joint_positions": [
2185
+ -0.0,
2186
+ 1.4376779794692993
2187
+ ],
2188
+ "cam_pose": [
2189
+ -2.544144868850708,
2190
+ 0.30695703625679016,
2191
+ 0.38372063636779785
2192
+ ],
2193
+ "cam_distance": 2.59116530418396
2194
+ },
2195
+ {
2196
+ "frame": 115,
2197
+ "take": 9,
2198
+ "manipulation_level": 2,
2199
+ "active_joints": [
2200
+ 0,
2201
+ 3
2202
+ ],
2203
+ "joint_positions": [
2204
+ -0.0,
2205
+ 1.4643017053604126
2206
+ ],
2207
+ "cam_pose": [
2208
+ -2.544144868850708,
2209
+ 0.30695703625679016,
2210
+ 0.38372063636779785
2211
+ ],
2212
+ "cam_distance": 2.59116530418396
2213
+ },
2214
+ {
2215
+ "frame": 116,
2216
+ "take": 9,
2217
+ "manipulation_level": 2,
2218
+ "active_joints": [
2219
+ 0,
2220
+ 3
2221
+ ],
2222
+ "joint_positions": [
2223
+ -0.0,
2224
+ 1.4909253120422363
2225
+ ],
2226
+ "cam_pose": [
2227
+ -2.544144868850708,
2228
+ 0.30695703625679016,
2229
+ 0.38372063636779785
2230
+ ],
2231
+ "cam_distance": 2.59116530418396
2232
+ },
2233
+ {
2234
+ "frame": 117,
2235
+ "take": 9,
2236
+ "manipulation_level": 2,
2237
+ "active_joints": [
2238
+ 0,
2239
+ 3
2240
+ ],
2241
+ "joint_positions": [
2242
+ -0.0,
2243
+ 1.5175490379333496
2244
+ ],
2245
+ "cam_pose": [
2246
+ -2.544144868850708,
2247
+ 0.30695703625679016,
2248
+ 0.38372063636779785
2249
+ ],
2250
+ "cam_distance": 2.59116530418396
2251
+ },
2252
+ {
2253
+ "frame": 118,
2254
+ "take": 9,
2255
+ "manipulation_level": 2,
2256
+ "active_joints": [
2257
+ 0,
2258
+ 3
2259
+ ],
2260
+ "joint_positions": [
2261
+ -0.0,
2262
+ 1.5441726446151733
2263
+ ],
2264
+ "cam_pose": [
2265
+ -2.544144868850708,
2266
+ 0.30695703625679016,
2267
+ 0.38372063636779785
2268
+ ],
2269
+ "cam_distance": 2.59116530418396
2270
+ },
2271
+ {
2272
+ "frame": 119,
2273
+ "take": 9,
2274
+ "manipulation_level": 2,
2275
+ "active_joints": [
2276
+ 0,
2277
+ 3
2278
+ ],
2279
+ "joint_positions": [
2280
+ -0.0,
2281
+ 1.5707963705062866
2282
+ ],
2283
+ "cam_pose": [
2284
+ -2.544144868850708,
2285
+ 0.30695703625679016,
2286
+ 0.38372063636779785
2287
+ ],
2288
+ "cam_distance": 2.59116530418396
2289
+ }
2290
+ ]
2291
+ }
45135/take_04/frames/00000.png ADDED

Git LFS Details

  • SHA256: 5688e3bcafe7e2014436f93486149df706e658c8e80f1238a01e08efc83b4e37
  • Pointer size: 131 Bytes
  • Size of remote file: 172 kB
45135/take_04/frames/00001.png ADDED

Git LFS Details

  • SHA256: 13d66a7836b6b45f6ff406c4f47905defa0fa72e0d4de7263871d930b070d855
  • Pointer size: 131 Bytes
  • Size of remote file: 172 kB
45135/take_04/frames/00002.png ADDED

Git LFS Details

  • SHA256: 87e81fb1aeaf3bf62b6dc614ac8dcebfa54fe8999ed7460ea0e75d62075d1368
  • Pointer size: 131 Bytes
  • Size of remote file: 173 kB
45135/take_04/frames/00003.png ADDED

Git LFS Details

  • SHA256: ed46f5ef0a418b94b2f1c7ae6feb8500b9012d7c7bf7abc8fca3fc42eeadbfc6
  • Pointer size: 131 Bytes
  • Size of remote file: 173 kB
45135/take_04/frames/00004.png ADDED

Git LFS Details

  • SHA256: cd476a877445280f7a452bf77b483fd826553f5cff02051e405740c2072c236c
  • Pointer size: 131 Bytes
  • Size of remote file: 173 kB
45135/take_04/frames/00005.png ADDED

Git LFS Details

  • SHA256: d84d89a99c2ecbf982d4788a7a480a74a4f325e4c1ef78f7f90d92eb20cf2340
  • Pointer size: 131 Bytes
  • Size of remote file: 173 kB
45135/take_04/frames/00006.png ADDED

Git LFS Details

  • SHA256: d923add472e111cba7747b11a0d542326b2b2e9ad9435525e7b2752d7ed94cba
  • Pointer size: 131 Bytes
  • Size of remote file: 174 kB
45135/take_04/frames/00007.png ADDED

Git LFS Details

  • SHA256: 3cf18af95919f112d87bf38c75c2e8362eaa00f13c35401495b4a0ecebcf0d8a
  • Pointer size: 131 Bytes
  • Size of remote file: 174 kB
45135/take_04/frames/00008.png ADDED

Git LFS Details

  • SHA256: e2b4fa7812dcab5b7b6063a69e6daf3a9201eee0ca8a8b9f8ee33f9b6ad97f5d
  • Pointer size: 131 Bytes
  • Size of remote file: 174 kB
45135/take_04/frames/00009.png ADDED

Git LFS Details

  • SHA256: c2b68eefdbc8594392f56711ebb83db4f72866eb359d559ddc0a829b1312382e
  • Pointer size: 131 Bytes
  • Size of remote file: 175 kB
45135/take_04/frames/00010.png ADDED

Git LFS Details

  • SHA256: cf72983037bf5150411bee40f32b304ebfcfe7f1e0af0c63fe7f4b9ab3ad4254
  • Pointer size: 131 Bytes
  • Size of remote file: 175 kB
45135/take_04/frames/00011.png ADDED

Git LFS Details

  • SHA256: 40d953533b88a5a2b836ea0eaab25ad11a0c156b1cd0523fdca2348cf45c4f83
  • Pointer size: 131 Bytes
  • Size of remote file: 176 kB
45135/take_04/frames/00012.png ADDED

Git LFS Details

  • SHA256: bc0bff78aed53af91e1425c05c07a292b4063f1ca71bb7fe964df30e838e30c3
  • Pointer size: 131 Bytes
  • Size of remote file: 177 kB
45135/take_04/frames/00013.png ADDED

Git LFS Details

  • SHA256: 671903621271c7b4463a010045814b3c316bffa6d53c161926dd10e374c0cb73
  • Pointer size: 131 Bytes
  • Size of remote file: 178 kB
45135/take_04/frames/00014.png ADDED

Git LFS Details

  • SHA256: 3f6e8658285167087ac170fbfd15d07f4952c90ea03062b56bd74c78b93da003
  • Pointer size: 131 Bytes
  • Size of remote file: 179 kB
45135/take_04/frames/00015.png ADDED

Git LFS Details

  • SHA256: ba11ec43995e55825e8e01a94d65a2586b50ce8438ea5bfe69a71fb430307d68
  • Pointer size: 131 Bytes
  • Size of remote file: 180 kB
45135/take_04/frames/00016.png ADDED

Git LFS Details

  • SHA256: 18001e8a25cab7042b9a62ed12fc51a473d98bf758859db00f123957e6d735bc
  • Pointer size: 131 Bytes
  • Size of remote file: 181 kB
45135/take_04/frames/00017.png ADDED

Git LFS Details

  • SHA256: 9dcc72d8a0c821965cc0f3351b2a01a62fbd390db3d826f3f5fdd17abd2a86d1
  • Pointer size: 131 Bytes
  • Size of remote file: 182 kB
45135/take_04/frames/00018.png ADDED

Git LFS Details

  • SHA256: 23eab1768835ad1e082cd61c0cf2c3f1855609ee5d147fed3eb5e53f86b8f45c
  • Pointer size: 131 Bytes
  • Size of remote file: 183 kB
45135/take_04/frames/00019.png ADDED

Git LFS Details

  • SHA256: 3f914cbd30482b05eb16287a0174f416f87a23d02d12b2fd5039c0fc35eb932c
  • Pointer size: 131 Bytes
  • Size of remote file: 185 kB
45135/take_04/frames/00020.png ADDED

Git LFS Details

  • SHA256: 2a6914ae89c6dd0c1d0174834fa1ab0884d4f139af204f1a1d755277f53150dc
  • Pointer size: 131 Bytes
  • Size of remote file: 185 kB
45135/take_04/frames/00021.png ADDED

Git LFS Details

  • SHA256: 52f090b1c7ac5a1fdfe21b1bd0ba8a85a5dc7901d119813cd2995d2a26907f14
  • Pointer size: 131 Bytes
  • Size of remote file: 186 kB
45135/take_04/frames/00022.png ADDED

Git LFS Details

  • SHA256: 922892d22123fee6186fbb5838bb50a2e0c2aa66a32148a71303f1b30ff30261
  • Pointer size: 131 Bytes
  • Size of remote file: 187 kB
45135/take_04/frames/00023.png ADDED

Git LFS Details

  • SHA256: 0959d11e2527fdea957fd5b59dc07b57469898c94ea38018913833ea12f86f16
  • Pointer size: 131 Bytes
  • Size of remote file: 189 kB
45135/take_04/frames/00024.png ADDED

Git LFS Details

  • SHA256: 1bfe89a61bc7631dfaeb1641e06fa1278d9db1ea864262f3b19648f9ad370a74
  • Pointer size: 131 Bytes
  • Size of remote file: 190 kB
45135/take_04/frames/00025.png ADDED

Git LFS Details

  • SHA256: 19fb7fe816fa8bbc288ff424e03637da4be91afbe47cad52df4378a11a5357e2
  • Pointer size: 131 Bytes
  • Size of remote file: 191 kB
45135/take_04/frames/00026.png ADDED

Git LFS Details

  • SHA256: e539e5fdaf702068cd102241de92fd99cc5855503d8f56825e028109c23c0496
  • Pointer size: 131 Bytes
  • Size of remote file: 192 kB
45135/take_04/frames/00027.png ADDED

Git LFS Details

  • SHA256: 392d6d10e9e69279c7cbaeac8ba100fa68ebe5fb4214e8fe491480c8dff8025f
  • Pointer size: 131 Bytes
  • Size of remote file: 193 kB
45135/take_04/frames/00028.png ADDED

Git LFS Details

  • SHA256: ec007a6c6f1a038e38657db14a6362a6a1a6cc22aad49cc65d01683871a6d75a
  • Pointer size: 131 Bytes
  • Size of remote file: 193 kB
45135/take_04/frames/00029.png ADDED

Git LFS Details

  • SHA256: 0e0ec4270d3b13bc23562adefa5d6a9413928d517f12fbc1e1da8466a447cf68
  • Pointer size: 131 Bytes
  • Size of remote file: 195 kB
45135/take_04/frames/00030.png ADDED

Git LFS Details

  • SHA256: 91eb43f8ab925d78264c5a392c8c77f18656482d5d4efbd20bf3208fa8f37955
  • Pointer size: 131 Bytes
  • Size of remote file: 196 kB
45135/take_04/frames/00031.png ADDED

Git LFS Details

  • SHA256: 89ab2ec98a7438e142df5260869aae5b7aad9077444bada8e0e33c5a8fec165f
  • Pointer size: 131 Bytes
  • Size of remote file: 196 kB
45135/take_04/frames/00032.png ADDED

Git LFS Details

  • SHA256: 88833fe3c681361b4da98fcc5a404b58ee1b88a344705c78e9c6abb8aa1c78a1
  • Pointer size: 131 Bytes
  • Size of remote file: 197 kB
45135/take_04/frames/00033.png ADDED

Git LFS Details

  • SHA256: 01210df8ed29385069d69a293ba3f51ace215a4a15480bbe2b8d3732f15b2ef2
  • Pointer size: 131 Bytes
  • Size of remote file: 198 kB
45135/take_04/frames/00034.png ADDED

Git LFS Details

  • SHA256: 73110a3f4452040b66605611cd7de44c705275ba60bae704ef4973ff99705fdc
  • Pointer size: 131 Bytes
  • Size of remote file: 199 kB
45135/take_04/frames/00035.png ADDED

Git LFS Details

  • SHA256: 6ab2e1ce4d31bb6248eb285174cda84384b8c82c6b0a8260f8571ef752f578f7
  • Pointer size: 131 Bytes
  • Size of remote file: 200 kB
45135/take_04/frames/00036.png ADDED

Git LFS Details

  • SHA256: 7f5a607c1ae601bc2095828ce05803ddb63c8c1f1baaa39d63ea141af6ee8c59
  • Pointer size: 131 Bytes
  • Size of remote file: 200 kB
45135/take_04/frames/00037.png ADDED

Git LFS Details

  • SHA256: de64b032fd456bda89961b19ab8af93ec2a6f23b0dfa6625aa8e301d68840f1f
  • Pointer size: 131 Bytes
  • Size of remote file: 201 kB
45135/take_04/frames/00039.png ADDED

Git LFS Details

  • SHA256: 9aac72ae70c8d488d8d94c2eb429f285953fa4ee7f7425a4b525fb556afbb87b
  • Pointer size: 131 Bytes
  • Size of remote file: 202 kB
45135/take_04/frames/00040.png ADDED

Git LFS Details

  • SHA256: 634b3b7492711594c32b2076f82696cdebdd557fc9d377e1cf0d48aa32cbe391
  • Pointer size: 131 Bytes
  • Size of remote file: 203 kB