AnandMayank commited on
Commit
0211630
·
verified ·
1 Parent(s): 331ccf7

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. manipulation_1/38516/take_00/metadata.json +1030 -0
  2. manipulation_1/38516/take_01/metadata.json +1030 -0
  3. manipulation_1/38516/take_02/metadata.json +1030 -0
  4. manipulation_1/38516/take_03/metadata.json +1030 -0
  5. manipulation_1/38516/take_04/metadata.json +1030 -0
  6. manipulation_1/38516/take_05/metadata.json +1030 -0
  7. manipulation_1/38516/take_06/metadata.json +1030 -0
  8. manipulation_1/38516/take_07/metadata.json +1030 -0
  9. manipulation_1/38516/take_08/metadata.json +1030 -0
  10. manipulation_1/38516/take_09/metadata.json +1030 -0
  11. manipulation_1/40453/take_07/affordance/frame_0000.npz +3 -0
  12. manipulation_1/40453/take_07/affordance/frame_0001.npz +3 -0
  13. manipulation_1/40453/take_07/affordance/frame_0002.npz +3 -0
  14. manipulation_1/40453/take_07/affordance/frame_0003.npz +3 -0
  15. manipulation_1/40453/take_07/affordance/frame_0004.npz +3 -0
  16. manipulation_1/40453/take_07/affordance/frame_0005.npz +3 -0
  17. manipulation_1/40453/take_07/affordance/frame_0006.npz +3 -0
  18. manipulation_1/40453/take_07/affordance/frame_0007.npz +3 -0
  19. manipulation_1/40453/take_07/affordance/frame_0008.npz +3 -0
  20. manipulation_1/40453/take_07/affordance/frame_0009.npz +3 -0
  21. manipulation_1/40453/take_07/affordance/frame_0010.npz +3 -0
  22. manipulation_1/40453/take_07/affordance/frame_0011.npz +3 -0
  23. manipulation_1/40453/take_07/affordance/frame_0012.npz +3 -0
  24. manipulation_1/40453/take_07/affordance/frame_0013.npz +3 -0
  25. manipulation_1/40453/take_07/affordance/frame_0014.npz +3 -0
  26. manipulation_1/40453/take_07/affordance/frame_0015.npz +3 -0
  27. manipulation_1/40453/take_07/affordance/frame_0016.npz +3 -0
  28. manipulation_1/40453/take_07/affordance/frame_0017.npz +3 -0
  29. manipulation_1/40453/take_07/affordance/frame_0018.npz +3 -0
  30. manipulation_1/40453/take_07/affordance/frame_0019.npz +3 -0
  31. manipulation_1/40453/take_07/affordance/frame_0020.npz +3 -0
  32. manipulation_1/40453/take_07/affordance/frame_0021.npz +3 -0
  33. manipulation_1/40453/take_07/affordance/frame_0022.npz +3 -0
  34. manipulation_1/40453/take_07/affordance/frame_0023.npz +3 -0
  35. manipulation_1/40453/take_07/affordance/frame_0024.npz +3 -0
  36. manipulation_1/40453/take_07/affordance/frame_0025.npz +3 -0
  37. manipulation_1/40453/take_07/affordance/frame_0026.npz +3 -0
  38. manipulation_1/40453/take_07/affordance/frame_0027.npz +3 -0
  39. manipulation_1/40453/take_07/affordance/frame_0028.npz +3 -0
  40. manipulation_1/40453/take_07/affordance/frame_0029.npz +3 -0
  41. manipulation_1/40453/take_07/affordance/frame_0030.npz +3 -0
  42. manipulation_1/40453/take_07/affordance/frame_0031.npz +3 -0
  43. manipulation_1/40453/take_07/affordance/frame_0032.npz +3 -0
  44. manipulation_1/40453/take_07/affordance/frame_0033.npz +3 -0
  45. manipulation_1/40453/take_07/affordance/frame_0034.npz +3 -0
  46. manipulation_1/40453/take_07/affordance/frame_0035.npz +3 -0
  47. manipulation_1/40453/take_07/affordance/frame_0036.npz +3 -0
  48. manipulation_1/40453/take_07/affordance/frame_0037.npz +3 -0
  49. manipulation_1/40453/take_07/affordance/frame_0038.npz +3 -0
  50. manipulation_1/40453/take_07/affordance/frame_0039.npz +3 -0
manipulation_1/38516/take_00/metadata.json ADDED
@@ -0,0 +1,1030 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object_id": "38516",
3
+ "manipulation_level": 1,
4
+ "active_joints": [
5
+ 0
6
+ ],
7
+ "total_joints": 1,
8
+ "frames": [
9
+ {
10
+ "frame": 0,
11
+ "take": 0,
12
+ "manipulation_level": 1,
13
+ "active_joints": [
14
+ 0
15
+ ],
16
+ "joint_positions": [
17
+ 0.0
18
+ ],
19
+ "cam_pose": [
20
+ -2.5631446838378906,
21
+ -0.009673921391367912,
22
+ 0.33855411410331726
23
+ ],
24
+ "cam_distance": 2.5854249000549316
25
+ },
26
+ {
27
+ "frame": 1,
28
+ "take": 0,
29
+ "manipulation_level": 1,
30
+ "active_joints": [
31
+ 0
32
+ ],
33
+ "joint_positions": [
34
+ 0.02958185225725174
35
+ ],
36
+ "cam_pose": [
37
+ -2.5631446838378906,
38
+ -0.009673921391367912,
39
+ 0.33855411410331726
40
+ ],
41
+ "cam_distance": 2.5854249000549316
42
+ },
43
+ {
44
+ "frame": 2,
45
+ "take": 0,
46
+ "manipulation_level": 1,
47
+ "active_joints": [
48
+ 0
49
+ ],
50
+ "joint_positions": [
51
+ 0.05916370451450348
52
+ ],
53
+ "cam_pose": [
54
+ -2.5631446838378906,
55
+ -0.009673921391367912,
56
+ 0.33855411410331726
57
+ ],
58
+ "cam_distance": 2.5854249000549316
59
+ },
60
+ {
61
+ "frame": 3,
62
+ "take": 0,
63
+ "manipulation_level": 1,
64
+ "active_joints": [
65
+ 0
66
+ ],
67
+ "joint_positions": [
68
+ 0.08874555677175522
69
+ ],
70
+ "cam_pose": [
71
+ -2.5631446838378906,
72
+ -0.009673921391367912,
73
+ 0.33855411410331726
74
+ ],
75
+ "cam_distance": 2.5854249000549316
76
+ },
77
+ {
78
+ "frame": 4,
79
+ "take": 0,
80
+ "manipulation_level": 1,
81
+ "active_joints": [
82
+ 0
83
+ ],
84
+ "joint_positions": [
85
+ 0.11832740902900696
86
+ ],
87
+ "cam_pose": [
88
+ -2.5631446838378906,
89
+ -0.009673921391367912,
90
+ 0.33855411410331726
91
+ ],
92
+ "cam_distance": 2.5854249000549316
93
+ },
94
+ {
95
+ "frame": 5,
96
+ "take": 0,
97
+ "manipulation_level": 1,
98
+ "active_joints": [
99
+ 0
100
+ ],
101
+ "joint_positions": [
102
+ 0.1479092538356781
103
+ ],
104
+ "cam_pose": [
105
+ -2.5631446838378906,
106
+ -0.009673921391367912,
107
+ 0.33855411410331726
108
+ ],
109
+ "cam_distance": 2.5854249000549316
110
+ },
111
+ {
112
+ "frame": 6,
113
+ "take": 0,
114
+ "manipulation_level": 1,
115
+ "active_joints": [
116
+ 0
117
+ ],
118
+ "joint_positions": [
119
+ 0.17749111354351044
120
+ ],
121
+ "cam_pose": [
122
+ -2.5631446838378906,
123
+ -0.009673921391367912,
124
+ 0.33855411410331726
125
+ ],
126
+ "cam_distance": 2.5854249000549316
127
+ },
128
+ {
129
+ "frame": 7,
130
+ "take": 0,
131
+ "manipulation_level": 1,
132
+ "active_joints": [
133
+ 0
134
+ ],
135
+ "joint_positions": [
136
+ 0.20707295835018158
137
+ ],
138
+ "cam_pose": [
139
+ -2.5631446838378906,
140
+ -0.009673921391367912,
141
+ 0.33855411410331726
142
+ ],
143
+ "cam_distance": 2.5854249000549316
144
+ },
145
+ {
146
+ "frame": 8,
147
+ "take": 0,
148
+ "manipulation_level": 1,
149
+ "active_joints": [
150
+ 0
151
+ ],
152
+ "joint_positions": [
153
+ 0.23665481805801392
154
+ ],
155
+ "cam_pose": [
156
+ -2.5631446838378906,
157
+ -0.009673921391367912,
158
+ 0.33855411410331726
159
+ ],
160
+ "cam_distance": 2.5854249000549316
161
+ },
162
+ {
163
+ "frame": 9,
164
+ "take": 0,
165
+ "manipulation_level": 1,
166
+ "active_joints": [
167
+ 0
168
+ ],
169
+ "joint_positions": [
170
+ 0.26623666286468506
171
+ ],
172
+ "cam_pose": [
173
+ -2.5631446838378906,
174
+ -0.009673921391367912,
175
+ 0.33855411410331726
176
+ ],
177
+ "cam_distance": 2.5854249000549316
178
+ },
179
+ {
180
+ "frame": 10,
181
+ "take": 0,
182
+ "manipulation_level": 1,
183
+ "active_joints": [
184
+ 0
185
+ ],
186
+ "joint_positions": [
187
+ 0.2958185076713562
188
+ ],
189
+ "cam_pose": [
190
+ -2.5631446838378906,
191
+ -0.009673921391367912,
192
+ 0.33855411410331726
193
+ ],
194
+ "cam_distance": 2.5854249000549316
195
+ },
196
+ {
197
+ "frame": 11,
198
+ "take": 0,
199
+ "manipulation_level": 1,
200
+ "active_joints": [
201
+ 0
202
+ ],
203
+ "joint_positions": [
204
+ 0.32540038228034973
205
+ ],
206
+ "cam_pose": [
207
+ -2.5631446838378906,
208
+ -0.009673921391367912,
209
+ 0.33855411410331726
210
+ ],
211
+ "cam_distance": 2.5854249000549316
212
+ },
213
+ {
214
+ "frame": 12,
215
+ "take": 0,
216
+ "manipulation_level": 1,
217
+ "active_joints": [
218
+ 0
219
+ ],
220
+ "joint_positions": [
221
+ 0.3549822270870209
222
+ ],
223
+ "cam_pose": [
224
+ -2.5631446838378906,
225
+ -0.009673921391367912,
226
+ 0.33855411410331726
227
+ ],
228
+ "cam_distance": 2.5854249000549316
229
+ },
230
+ {
231
+ "frame": 13,
232
+ "take": 0,
233
+ "manipulation_level": 1,
234
+ "active_joints": [
235
+ 0
236
+ ],
237
+ "joint_positions": [
238
+ 0.384564071893692
239
+ ],
240
+ "cam_pose": [
241
+ -2.5631446838378906,
242
+ -0.009673921391367912,
243
+ 0.33855411410331726
244
+ ],
245
+ "cam_distance": 2.5854249000549316
246
+ },
247
+ {
248
+ "frame": 14,
249
+ "take": 0,
250
+ "manipulation_level": 1,
251
+ "active_joints": [
252
+ 0
253
+ ],
254
+ "joint_positions": [
255
+ 0.41414591670036316
256
+ ],
257
+ "cam_pose": [
258
+ -2.5631446838378906,
259
+ -0.009673921391367912,
260
+ 0.33855411410331726
261
+ ],
262
+ "cam_distance": 2.5854249000549316
263
+ },
264
+ {
265
+ "frame": 15,
266
+ "take": 0,
267
+ "manipulation_level": 1,
268
+ "active_joints": [
269
+ 0
270
+ ],
271
+ "joint_positions": [
272
+ 0.4437277615070343
273
+ ],
274
+ "cam_pose": [
275
+ -2.5631446838378906,
276
+ -0.009673921391367912,
277
+ 0.33855411410331726
278
+ ],
279
+ "cam_distance": 2.5854249000549316
280
+ },
281
+ {
282
+ "frame": 16,
283
+ "take": 0,
284
+ "manipulation_level": 1,
285
+ "active_joints": [
286
+ 0
287
+ ],
288
+ "joint_positions": [
289
+ 0.47330963611602783
290
+ ],
291
+ "cam_pose": [
292
+ -2.5631446838378906,
293
+ -0.009673921391367912,
294
+ 0.33855411410331726
295
+ ],
296
+ "cam_distance": 2.5854249000549316
297
+ },
298
+ {
299
+ "frame": 17,
300
+ "take": 0,
301
+ "manipulation_level": 1,
302
+ "active_joints": [
303
+ 0
304
+ ],
305
+ "joint_positions": [
306
+ 0.502891480922699
307
+ ],
308
+ "cam_pose": [
309
+ -2.5631446838378906,
310
+ -0.009673921391367912,
311
+ 0.33855411410331726
312
+ ],
313
+ "cam_distance": 2.5854249000549316
314
+ },
315
+ {
316
+ "frame": 18,
317
+ "take": 0,
318
+ "manipulation_level": 1,
319
+ "active_joints": [
320
+ 0
321
+ ],
322
+ "joint_positions": [
323
+ 0.5324733257293701
324
+ ],
325
+ "cam_pose": [
326
+ -2.5631446838378906,
327
+ -0.009673921391367912,
328
+ 0.33855411410331726
329
+ ],
330
+ "cam_distance": 2.5854249000549316
331
+ },
332
+ {
333
+ "frame": 19,
334
+ "take": 0,
335
+ "manipulation_level": 1,
336
+ "active_joints": [
337
+ 0
338
+ ],
339
+ "joint_positions": [
340
+ 0.5620551705360413
341
+ ],
342
+ "cam_pose": [
343
+ -2.5631446838378906,
344
+ -0.009673921391367912,
345
+ 0.33855411410331726
346
+ ],
347
+ "cam_distance": 2.5854249000549316
348
+ },
349
+ {
350
+ "frame": 20,
351
+ "take": 0,
352
+ "manipulation_level": 1,
353
+ "active_joints": [
354
+ 0
355
+ ],
356
+ "joint_positions": [
357
+ 0.5916370153427124
358
+ ],
359
+ "cam_pose": [
360
+ -2.5631446838378906,
361
+ -0.009673921391367912,
362
+ 0.33855411410331726
363
+ ],
364
+ "cam_distance": 2.5854249000549316
365
+ },
366
+ {
367
+ "frame": 21,
368
+ "take": 0,
369
+ "manipulation_level": 1,
370
+ "active_joints": [
371
+ 0
372
+ ],
373
+ "joint_positions": [
374
+ 0.6212188601493835
375
+ ],
376
+ "cam_pose": [
377
+ -2.5631446838378906,
378
+ -0.009673921391367912,
379
+ 0.33855411410331726
380
+ ],
381
+ "cam_distance": 2.5854249000549316
382
+ },
383
+ {
384
+ "frame": 22,
385
+ "take": 0,
386
+ "manipulation_level": 1,
387
+ "active_joints": [
388
+ 0
389
+ ],
390
+ "joint_positions": [
391
+ 0.6508007645606995
392
+ ],
393
+ "cam_pose": [
394
+ -2.5631446838378906,
395
+ -0.009673921391367912,
396
+ 0.33855411410331726
397
+ ],
398
+ "cam_distance": 2.5854249000549316
399
+ },
400
+ {
401
+ "frame": 23,
402
+ "take": 0,
403
+ "manipulation_level": 1,
404
+ "active_joints": [
405
+ 0
406
+ ],
407
+ "joint_positions": [
408
+ 0.6803826093673706
409
+ ],
410
+ "cam_pose": [
411
+ -2.5631446838378906,
412
+ -0.009673921391367912,
413
+ 0.33855411410331726
414
+ ],
415
+ "cam_distance": 2.5854249000549316
416
+ },
417
+ {
418
+ "frame": 24,
419
+ "take": 0,
420
+ "manipulation_level": 1,
421
+ "active_joints": [
422
+ 0
423
+ ],
424
+ "joint_positions": [
425
+ 0.7099644541740417
426
+ ],
427
+ "cam_pose": [
428
+ -2.5631446838378906,
429
+ -0.009673921391367912,
430
+ 0.33855411410331726
431
+ ],
432
+ "cam_distance": 2.5854249000549316
433
+ },
434
+ {
435
+ "frame": 25,
436
+ "take": 0,
437
+ "manipulation_level": 1,
438
+ "active_joints": [
439
+ 0
440
+ ],
441
+ "joint_positions": [
442
+ 0.7395462989807129
443
+ ],
444
+ "cam_pose": [
445
+ -2.5631446838378906,
446
+ -0.009673921391367912,
447
+ 0.33855411410331726
448
+ ],
449
+ "cam_distance": 2.5854249000549316
450
+ },
451
+ {
452
+ "frame": 26,
453
+ "take": 0,
454
+ "manipulation_level": 1,
455
+ "active_joints": [
456
+ 0
457
+ ],
458
+ "joint_positions": [
459
+ 0.769128143787384
460
+ ],
461
+ "cam_pose": [
462
+ -2.5631446838378906,
463
+ -0.009673921391367912,
464
+ 0.33855411410331726
465
+ ],
466
+ "cam_distance": 2.5854249000549316
467
+ },
468
+ {
469
+ "frame": 27,
470
+ "take": 0,
471
+ "manipulation_level": 1,
472
+ "active_joints": [
473
+ 0
474
+ ],
475
+ "joint_positions": [
476
+ 0.7987099885940552
477
+ ],
478
+ "cam_pose": [
479
+ -2.5631446838378906,
480
+ -0.009673921391367912,
481
+ 0.33855411410331726
482
+ ],
483
+ "cam_distance": 2.5854249000549316
484
+ },
485
+ {
486
+ "frame": 28,
487
+ "take": 0,
488
+ "manipulation_level": 1,
489
+ "active_joints": [
490
+ 0
491
+ ],
492
+ "joint_positions": [
493
+ 0.8282918334007263
494
+ ],
495
+ "cam_pose": [
496
+ -2.5631446838378906,
497
+ -0.009673921391367912,
498
+ 0.33855411410331726
499
+ ],
500
+ "cam_distance": 2.5854249000549316
501
+ },
502
+ {
503
+ "frame": 29,
504
+ "take": 0,
505
+ "manipulation_level": 1,
506
+ "active_joints": [
507
+ 0
508
+ ],
509
+ "joint_positions": [
510
+ 0.8578736782073975
511
+ ],
512
+ "cam_pose": [
513
+ -2.5631446838378906,
514
+ -0.009673921391367912,
515
+ 0.33855411410331726
516
+ ],
517
+ "cam_distance": 2.5854249000549316
518
+ },
519
+ {
520
+ "frame": 30,
521
+ "take": 0,
522
+ "manipulation_level": 1,
523
+ "active_joints": [
524
+ 0
525
+ ],
526
+ "joint_positions": [
527
+ 0.8874555230140686
528
+ ],
529
+ "cam_pose": [
530
+ -2.5631446838378906,
531
+ -0.009673921391367912,
532
+ 0.33855411410331726
533
+ ],
534
+ "cam_distance": 2.5854249000549316
535
+ },
536
+ {
537
+ "frame": 31,
538
+ "take": 0,
539
+ "manipulation_level": 1,
540
+ "active_joints": [
541
+ 0
542
+ ],
543
+ "joint_positions": [
544
+ 0.9170374274253845
545
+ ],
546
+ "cam_pose": [
547
+ -2.5631446838378906,
548
+ -0.009673921391367912,
549
+ 0.33855411410331726
550
+ ],
551
+ "cam_distance": 2.5854249000549316
552
+ },
553
+ {
554
+ "frame": 32,
555
+ "take": 0,
556
+ "manipulation_level": 1,
557
+ "active_joints": [
558
+ 0
559
+ ],
560
+ "joint_positions": [
561
+ 0.9466192722320557
562
+ ],
563
+ "cam_pose": [
564
+ -2.5631446838378906,
565
+ -0.009673921391367912,
566
+ 0.33855411410331726
567
+ ],
568
+ "cam_distance": 2.5854249000549316
569
+ },
570
+ {
571
+ "frame": 33,
572
+ "take": 0,
573
+ "manipulation_level": 1,
574
+ "active_joints": [
575
+ 0
576
+ ],
577
+ "joint_positions": [
578
+ 0.9762011170387268
579
+ ],
580
+ "cam_pose": [
581
+ -2.5631446838378906,
582
+ -0.009673921391367912,
583
+ 0.33855411410331726
584
+ ],
585
+ "cam_distance": 2.5854249000549316
586
+ },
587
+ {
588
+ "frame": 34,
589
+ "take": 0,
590
+ "manipulation_level": 1,
591
+ "active_joints": [
592
+ 0
593
+ ],
594
+ "joint_positions": [
595
+ 1.005782961845398
596
+ ],
597
+ "cam_pose": [
598
+ -2.5631446838378906,
599
+ -0.009673921391367912,
600
+ 0.33855411410331726
601
+ ],
602
+ "cam_distance": 2.5854249000549316
603
+ },
604
+ {
605
+ "frame": 35,
606
+ "take": 0,
607
+ "manipulation_level": 1,
608
+ "active_joints": [
609
+ 0
610
+ ],
611
+ "joint_positions": [
612
+ 1.0353648662567139
613
+ ],
614
+ "cam_pose": [
615
+ -2.5631446838378906,
616
+ -0.009673921391367912,
617
+ 0.33855411410331726
618
+ ],
619
+ "cam_distance": 2.5854249000549316
620
+ },
621
+ {
622
+ "frame": 36,
623
+ "take": 0,
624
+ "manipulation_level": 1,
625
+ "active_joints": [
626
+ 0
627
+ ],
628
+ "joint_positions": [
629
+ 1.0649466514587402
630
+ ],
631
+ "cam_pose": [
632
+ -2.5631446838378906,
633
+ -0.009673921391367912,
634
+ 0.33855411410331726
635
+ ],
636
+ "cam_distance": 2.5854249000549316
637
+ },
638
+ {
639
+ "frame": 37,
640
+ "take": 0,
641
+ "manipulation_level": 1,
642
+ "active_joints": [
643
+ 0
644
+ ],
645
+ "joint_positions": [
646
+ 1.0945285558700562
647
+ ],
648
+ "cam_pose": [
649
+ -2.5631446838378906,
650
+ -0.009673921391367912,
651
+ 0.33855411410331726
652
+ ],
653
+ "cam_distance": 2.5854249000549316
654
+ },
655
+ {
656
+ "frame": 38,
657
+ "take": 0,
658
+ "manipulation_level": 1,
659
+ "active_joints": [
660
+ 0
661
+ ],
662
+ "joint_positions": [
663
+ 1.1241103410720825
664
+ ],
665
+ "cam_pose": [
666
+ -2.5631446838378906,
667
+ -0.009673921391367912,
668
+ 0.33855411410331726
669
+ ],
670
+ "cam_distance": 2.5854249000549316
671
+ },
672
+ {
673
+ "frame": 39,
674
+ "take": 0,
675
+ "manipulation_level": 1,
676
+ "active_joints": [
677
+ 0
678
+ ],
679
+ "joint_positions": [
680
+ 1.1536922454833984
681
+ ],
682
+ "cam_pose": [
683
+ -2.5631446838378906,
684
+ -0.009673921391367912,
685
+ 0.33855411410331726
686
+ ],
687
+ "cam_distance": 2.5854249000549316
688
+ },
689
+ {
690
+ "frame": 40,
691
+ "take": 0,
692
+ "manipulation_level": 1,
693
+ "active_joints": [
694
+ 0
695
+ ],
696
+ "joint_positions": [
697
+ 1.1832740306854248
698
+ ],
699
+ "cam_pose": [
700
+ -2.5631446838378906,
701
+ -0.009673921391367912,
702
+ 0.33855411410331726
703
+ ],
704
+ "cam_distance": 2.5854249000549316
705
+ },
706
+ {
707
+ "frame": 41,
708
+ "take": 0,
709
+ "manipulation_level": 1,
710
+ "active_joints": [
711
+ 0
712
+ ],
713
+ "joint_positions": [
714
+ 1.2128559350967407
715
+ ],
716
+ "cam_pose": [
717
+ -2.5631446838378906,
718
+ -0.009673921391367912,
719
+ 0.33855411410331726
720
+ ],
721
+ "cam_distance": 2.5854249000549316
722
+ },
723
+ {
724
+ "frame": 42,
725
+ "take": 0,
726
+ "manipulation_level": 1,
727
+ "active_joints": [
728
+ 0
729
+ ],
730
+ "joint_positions": [
731
+ 1.242437720298767
732
+ ],
733
+ "cam_pose": [
734
+ -2.5631446838378906,
735
+ -0.009673921391367912,
736
+ 0.33855411410331726
737
+ ],
738
+ "cam_distance": 2.5854249000549316
739
+ },
740
+ {
741
+ "frame": 43,
742
+ "take": 0,
743
+ "manipulation_level": 1,
744
+ "active_joints": [
745
+ 0
746
+ ],
747
+ "joint_positions": [
748
+ 1.272019624710083
749
+ ],
750
+ "cam_pose": [
751
+ -2.5631446838378906,
752
+ -0.009673921391367912,
753
+ 0.33855411410331726
754
+ ],
755
+ "cam_distance": 2.5854249000549316
756
+ },
757
+ {
758
+ "frame": 44,
759
+ "take": 0,
760
+ "manipulation_level": 1,
761
+ "active_joints": [
762
+ 0
763
+ ],
764
+ "joint_positions": [
765
+ 1.301601529121399
766
+ ],
767
+ "cam_pose": [
768
+ -2.5631446838378906,
769
+ -0.009673921391367912,
770
+ 0.33855411410331726
771
+ ],
772
+ "cam_distance": 2.5854249000549316
773
+ },
774
+ {
775
+ "frame": 45,
776
+ "take": 0,
777
+ "manipulation_level": 1,
778
+ "active_joints": [
779
+ 0
780
+ ],
781
+ "joint_positions": [
782
+ 1.3311833143234253
783
+ ],
784
+ "cam_pose": [
785
+ -2.5631446838378906,
786
+ -0.009673921391367912,
787
+ 0.33855411410331726
788
+ ],
789
+ "cam_distance": 2.5854249000549316
790
+ },
791
+ {
792
+ "frame": 46,
793
+ "take": 0,
794
+ "manipulation_level": 1,
795
+ "active_joints": [
796
+ 0
797
+ ],
798
+ "joint_positions": [
799
+ 1.3607652187347412
800
+ ],
801
+ "cam_pose": [
802
+ -2.5631446838378906,
803
+ -0.009673921391367912,
804
+ 0.33855411410331726
805
+ ],
806
+ "cam_distance": 2.5854249000549316
807
+ },
808
+ {
809
+ "frame": 47,
810
+ "take": 0,
811
+ "manipulation_level": 1,
812
+ "active_joints": [
813
+ 0
814
+ ],
815
+ "joint_positions": [
816
+ 1.3903470039367676
817
+ ],
818
+ "cam_pose": [
819
+ -2.5631446838378906,
820
+ -0.009673921391367912,
821
+ 0.33855411410331726
822
+ ],
823
+ "cam_distance": 2.5854249000549316
824
+ },
825
+ {
826
+ "frame": 48,
827
+ "take": 0,
828
+ "manipulation_level": 1,
829
+ "active_joints": [
830
+ 0
831
+ ],
832
+ "joint_positions": [
833
+ 1.4199289083480835
834
+ ],
835
+ "cam_pose": [
836
+ -2.5631446838378906,
837
+ -0.009673921391367912,
838
+ 0.33855411410331726
839
+ ],
840
+ "cam_distance": 2.5854249000549316
841
+ },
842
+ {
843
+ "frame": 49,
844
+ "take": 0,
845
+ "manipulation_level": 1,
846
+ "active_joints": [
847
+ 0
848
+ ],
849
+ "joint_positions": [
850
+ 1.4495106935501099
851
+ ],
852
+ "cam_pose": [
853
+ -2.5631446838378906,
854
+ -0.009673921391367912,
855
+ 0.33855411410331726
856
+ ],
857
+ "cam_distance": 2.5854249000549316
858
+ },
859
+ {
860
+ "frame": 50,
861
+ "take": 0,
862
+ "manipulation_level": 1,
863
+ "active_joints": [
864
+ 0
865
+ ],
866
+ "joint_positions": [
867
+ 1.4790925979614258
868
+ ],
869
+ "cam_pose": [
870
+ -2.5631446838378906,
871
+ -0.009673921391367912,
872
+ 0.33855411410331726
873
+ ],
874
+ "cam_distance": 2.5854249000549316
875
+ },
876
+ {
877
+ "frame": 51,
878
+ "take": 0,
879
+ "manipulation_level": 1,
880
+ "active_joints": [
881
+ 0
882
+ ],
883
+ "joint_positions": [
884
+ 1.5086743831634521
885
+ ],
886
+ "cam_pose": [
887
+ -2.5631446838378906,
888
+ -0.009673921391367912,
889
+ 0.33855411410331726
890
+ ],
891
+ "cam_distance": 2.5854249000549316
892
+ },
893
+ {
894
+ "frame": 52,
895
+ "take": 0,
896
+ "manipulation_level": 1,
897
+ "active_joints": [
898
+ 0
899
+ ],
900
+ "joint_positions": [
901
+ 1.538256287574768
902
+ ],
903
+ "cam_pose": [
904
+ -2.5631446838378906,
905
+ -0.009673921391367912,
906
+ 0.33855411410331726
907
+ ],
908
+ "cam_distance": 2.5854249000549316
909
+ },
910
+ {
911
+ "frame": 53,
912
+ "take": 0,
913
+ "manipulation_level": 1,
914
+ "active_joints": [
915
+ 0
916
+ ],
917
+ "joint_positions": [
918
+ 1.567838191986084
919
+ ],
920
+ "cam_pose": [
921
+ -2.5631446838378906,
922
+ -0.009673921391367912,
923
+ 0.33855411410331726
924
+ ],
925
+ "cam_distance": 2.5854249000549316
926
+ },
927
+ {
928
+ "frame": 54,
929
+ "take": 0,
930
+ "manipulation_level": 1,
931
+ "active_joints": [
932
+ 0
933
+ ],
934
+ "joint_positions": [
935
+ 1.5974199771881104
936
+ ],
937
+ "cam_pose": [
938
+ -2.5631446838378906,
939
+ -0.009673921391367912,
940
+ 0.33855411410331726
941
+ ],
942
+ "cam_distance": 2.5854249000549316
943
+ },
944
+ {
945
+ "frame": 55,
946
+ "take": 0,
947
+ "manipulation_level": 1,
948
+ "active_joints": [
949
+ 0
950
+ ],
951
+ "joint_positions": [
952
+ 1.6270018815994263
953
+ ],
954
+ "cam_pose": [
955
+ -2.5631446838378906,
956
+ -0.009673921391367912,
957
+ 0.33855411410331726
958
+ ],
959
+ "cam_distance": 2.5854249000549316
960
+ },
961
+ {
962
+ "frame": 56,
963
+ "take": 0,
964
+ "manipulation_level": 1,
965
+ "active_joints": [
966
+ 0
967
+ ],
968
+ "joint_positions": [
969
+ 1.6565836668014526
970
+ ],
971
+ "cam_pose": [
972
+ -2.5631446838378906,
973
+ -0.009673921391367912,
974
+ 0.33855411410331726
975
+ ],
976
+ "cam_distance": 2.5854249000549316
977
+ },
978
+ {
979
+ "frame": 57,
980
+ "take": 0,
981
+ "manipulation_level": 1,
982
+ "active_joints": [
983
+ 0
984
+ ],
985
+ "joint_positions": [
986
+ 1.6861655712127686
987
+ ],
988
+ "cam_pose": [
989
+ -2.5631446838378906,
990
+ -0.009673921391367912,
991
+ 0.33855411410331726
992
+ ],
993
+ "cam_distance": 2.5854249000549316
994
+ },
995
+ {
996
+ "frame": 58,
997
+ "take": 0,
998
+ "manipulation_level": 1,
999
+ "active_joints": [
1000
+ 0
1001
+ ],
1002
+ "joint_positions": [
1003
+ 1.715747356414795
1004
+ ],
1005
+ "cam_pose": [
1006
+ -2.5631446838378906,
1007
+ -0.009673921391367912,
1008
+ 0.33855411410331726
1009
+ ],
1010
+ "cam_distance": 2.5854249000549316
1011
+ },
1012
+ {
1013
+ "frame": 59,
1014
+ "take": 0,
1015
+ "manipulation_level": 1,
1016
+ "active_joints": [
1017
+ 0
1018
+ ],
1019
+ "joint_positions": [
1020
+ 1.7453292608261108
1021
+ ],
1022
+ "cam_pose": [
1023
+ -2.5631446838378906,
1024
+ -0.009673921391367912,
1025
+ 0.33855411410331726
1026
+ ],
1027
+ "cam_distance": 2.5854249000549316
1028
+ }
1029
+ ]
1030
+ }
manipulation_1/38516/take_01/metadata.json ADDED
@@ -0,0 +1,1030 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object_id": "38516",
3
+ "manipulation_level": 1,
4
+ "active_joints": [
5
+ 0
6
+ ],
7
+ "total_joints": 1,
8
+ "frames": [
9
+ {
10
+ "frame": 0,
11
+ "take": 1,
12
+ "manipulation_level": 1,
13
+ "active_joints": [
14
+ 0
15
+ ],
16
+ "joint_positions": [
17
+ 0.0
18
+ ],
19
+ "cam_pose": [
20
+ -2.5803518295288086,
21
+ 0.26004743576049805,
22
+ 0.6982908844947815
23
+ ],
24
+ "cam_distance": 2.685786485671997
25
+ },
26
+ {
27
+ "frame": 1,
28
+ "take": 1,
29
+ "manipulation_level": 1,
30
+ "active_joints": [
31
+ 0
32
+ ],
33
+ "joint_positions": [
34
+ 0.02958185225725174
35
+ ],
36
+ "cam_pose": [
37
+ -2.5803518295288086,
38
+ 0.26004743576049805,
39
+ 0.6982908844947815
40
+ ],
41
+ "cam_distance": 2.685786485671997
42
+ },
43
+ {
44
+ "frame": 2,
45
+ "take": 1,
46
+ "manipulation_level": 1,
47
+ "active_joints": [
48
+ 0
49
+ ],
50
+ "joint_positions": [
51
+ 0.05916370451450348
52
+ ],
53
+ "cam_pose": [
54
+ -2.5803518295288086,
55
+ 0.26004743576049805,
56
+ 0.6982908844947815
57
+ ],
58
+ "cam_distance": 2.685786485671997
59
+ },
60
+ {
61
+ "frame": 3,
62
+ "take": 1,
63
+ "manipulation_level": 1,
64
+ "active_joints": [
65
+ 0
66
+ ],
67
+ "joint_positions": [
68
+ 0.08874555677175522
69
+ ],
70
+ "cam_pose": [
71
+ -2.5803518295288086,
72
+ 0.26004743576049805,
73
+ 0.6982908844947815
74
+ ],
75
+ "cam_distance": 2.685786485671997
76
+ },
77
+ {
78
+ "frame": 4,
79
+ "take": 1,
80
+ "manipulation_level": 1,
81
+ "active_joints": [
82
+ 0
83
+ ],
84
+ "joint_positions": [
85
+ 0.11832740902900696
86
+ ],
87
+ "cam_pose": [
88
+ -2.5803518295288086,
89
+ 0.26004743576049805,
90
+ 0.6982908844947815
91
+ ],
92
+ "cam_distance": 2.685786485671997
93
+ },
94
+ {
95
+ "frame": 5,
96
+ "take": 1,
97
+ "manipulation_level": 1,
98
+ "active_joints": [
99
+ 0
100
+ ],
101
+ "joint_positions": [
102
+ 0.1479092538356781
103
+ ],
104
+ "cam_pose": [
105
+ -2.5803518295288086,
106
+ 0.26004743576049805,
107
+ 0.6982908844947815
108
+ ],
109
+ "cam_distance": 2.685786485671997
110
+ },
111
+ {
112
+ "frame": 6,
113
+ "take": 1,
114
+ "manipulation_level": 1,
115
+ "active_joints": [
116
+ 0
117
+ ],
118
+ "joint_positions": [
119
+ 0.17749111354351044
120
+ ],
121
+ "cam_pose": [
122
+ -2.5803518295288086,
123
+ 0.26004743576049805,
124
+ 0.6982908844947815
125
+ ],
126
+ "cam_distance": 2.685786485671997
127
+ },
128
+ {
129
+ "frame": 7,
130
+ "take": 1,
131
+ "manipulation_level": 1,
132
+ "active_joints": [
133
+ 0
134
+ ],
135
+ "joint_positions": [
136
+ 0.20707295835018158
137
+ ],
138
+ "cam_pose": [
139
+ -2.5803518295288086,
140
+ 0.26004743576049805,
141
+ 0.6982908844947815
142
+ ],
143
+ "cam_distance": 2.685786485671997
144
+ },
145
+ {
146
+ "frame": 8,
147
+ "take": 1,
148
+ "manipulation_level": 1,
149
+ "active_joints": [
150
+ 0
151
+ ],
152
+ "joint_positions": [
153
+ 0.23665481805801392
154
+ ],
155
+ "cam_pose": [
156
+ -2.5803518295288086,
157
+ 0.26004743576049805,
158
+ 0.6982908844947815
159
+ ],
160
+ "cam_distance": 2.685786485671997
161
+ },
162
+ {
163
+ "frame": 9,
164
+ "take": 1,
165
+ "manipulation_level": 1,
166
+ "active_joints": [
167
+ 0
168
+ ],
169
+ "joint_positions": [
170
+ 0.26623666286468506
171
+ ],
172
+ "cam_pose": [
173
+ -2.5803518295288086,
174
+ 0.26004743576049805,
175
+ 0.6982908844947815
176
+ ],
177
+ "cam_distance": 2.685786485671997
178
+ },
179
+ {
180
+ "frame": 10,
181
+ "take": 1,
182
+ "manipulation_level": 1,
183
+ "active_joints": [
184
+ 0
185
+ ],
186
+ "joint_positions": [
187
+ 0.2958185076713562
188
+ ],
189
+ "cam_pose": [
190
+ -2.5803518295288086,
191
+ 0.26004743576049805,
192
+ 0.6982908844947815
193
+ ],
194
+ "cam_distance": 2.685786485671997
195
+ },
196
+ {
197
+ "frame": 11,
198
+ "take": 1,
199
+ "manipulation_level": 1,
200
+ "active_joints": [
201
+ 0
202
+ ],
203
+ "joint_positions": [
204
+ 0.32540038228034973
205
+ ],
206
+ "cam_pose": [
207
+ -2.5803518295288086,
208
+ 0.26004743576049805,
209
+ 0.6982908844947815
210
+ ],
211
+ "cam_distance": 2.685786485671997
212
+ },
213
+ {
214
+ "frame": 12,
215
+ "take": 1,
216
+ "manipulation_level": 1,
217
+ "active_joints": [
218
+ 0
219
+ ],
220
+ "joint_positions": [
221
+ 0.3549822270870209
222
+ ],
223
+ "cam_pose": [
224
+ -2.5803518295288086,
225
+ 0.26004743576049805,
226
+ 0.6982908844947815
227
+ ],
228
+ "cam_distance": 2.685786485671997
229
+ },
230
+ {
231
+ "frame": 13,
232
+ "take": 1,
233
+ "manipulation_level": 1,
234
+ "active_joints": [
235
+ 0
236
+ ],
237
+ "joint_positions": [
238
+ 0.384564071893692
239
+ ],
240
+ "cam_pose": [
241
+ -2.5803518295288086,
242
+ 0.26004743576049805,
243
+ 0.6982908844947815
244
+ ],
245
+ "cam_distance": 2.685786485671997
246
+ },
247
+ {
248
+ "frame": 14,
249
+ "take": 1,
250
+ "manipulation_level": 1,
251
+ "active_joints": [
252
+ 0
253
+ ],
254
+ "joint_positions": [
255
+ 0.41414591670036316
256
+ ],
257
+ "cam_pose": [
258
+ -2.5803518295288086,
259
+ 0.26004743576049805,
260
+ 0.6982908844947815
261
+ ],
262
+ "cam_distance": 2.685786485671997
263
+ },
264
+ {
265
+ "frame": 15,
266
+ "take": 1,
267
+ "manipulation_level": 1,
268
+ "active_joints": [
269
+ 0
270
+ ],
271
+ "joint_positions": [
272
+ 0.4437277615070343
273
+ ],
274
+ "cam_pose": [
275
+ -2.5803518295288086,
276
+ 0.26004743576049805,
277
+ 0.6982908844947815
278
+ ],
279
+ "cam_distance": 2.685786485671997
280
+ },
281
+ {
282
+ "frame": 16,
283
+ "take": 1,
284
+ "manipulation_level": 1,
285
+ "active_joints": [
286
+ 0
287
+ ],
288
+ "joint_positions": [
289
+ 0.47330963611602783
290
+ ],
291
+ "cam_pose": [
292
+ -2.5803518295288086,
293
+ 0.26004743576049805,
294
+ 0.6982908844947815
295
+ ],
296
+ "cam_distance": 2.685786485671997
297
+ },
298
+ {
299
+ "frame": 17,
300
+ "take": 1,
301
+ "manipulation_level": 1,
302
+ "active_joints": [
303
+ 0
304
+ ],
305
+ "joint_positions": [
306
+ 0.502891480922699
307
+ ],
308
+ "cam_pose": [
309
+ -2.5803518295288086,
310
+ 0.26004743576049805,
311
+ 0.6982908844947815
312
+ ],
313
+ "cam_distance": 2.685786485671997
314
+ },
315
+ {
316
+ "frame": 18,
317
+ "take": 1,
318
+ "manipulation_level": 1,
319
+ "active_joints": [
320
+ 0
321
+ ],
322
+ "joint_positions": [
323
+ 0.5324733257293701
324
+ ],
325
+ "cam_pose": [
326
+ -2.5803518295288086,
327
+ 0.26004743576049805,
328
+ 0.6982908844947815
329
+ ],
330
+ "cam_distance": 2.685786485671997
331
+ },
332
+ {
333
+ "frame": 19,
334
+ "take": 1,
335
+ "manipulation_level": 1,
336
+ "active_joints": [
337
+ 0
338
+ ],
339
+ "joint_positions": [
340
+ 0.5620551705360413
341
+ ],
342
+ "cam_pose": [
343
+ -2.5803518295288086,
344
+ 0.26004743576049805,
345
+ 0.6982908844947815
346
+ ],
347
+ "cam_distance": 2.685786485671997
348
+ },
349
+ {
350
+ "frame": 20,
351
+ "take": 1,
352
+ "manipulation_level": 1,
353
+ "active_joints": [
354
+ 0
355
+ ],
356
+ "joint_positions": [
357
+ 0.5916370153427124
358
+ ],
359
+ "cam_pose": [
360
+ -2.5803518295288086,
361
+ 0.26004743576049805,
362
+ 0.6982908844947815
363
+ ],
364
+ "cam_distance": 2.685786485671997
365
+ },
366
+ {
367
+ "frame": 21,
368
+ "take": 1,
369
+ "manipulation_level": 1,
370
+ "active_joints": [
371
+ 0
372
+ ],
373
+ "joint_positions": [
374
+ 0.6212188601493835
375
+ ],
376
+ "cam_pose": [
377
+ -2.5803518295288086,
378
+ 0.26004743576049805,
379
+ 0.6982908844947815
380
+ ],
381
+ "cam_distance": 2.685786485671997
382
+ },
383
+ {
384
+ "frame": 22,
385
+ "take": 1,
386
+ "manipulation_level": 1,
387
+ "active_joints": [
388
+ 0
389
+ ],
390
+ "joint_positions": [
391
+ 0.6508007645606995
392
+ ],
393
+ "cam_pose": [
394
+ -2.5803518295288086,
395
+ 0.26004743576049805,
396
+ 0.6982908844947815
397
+ ],
398
+ "cam_distance": 2.685786485671997
399
+ },
400
+ {
401
+ "frame": 23,
402
+ "take": 1,
403
+ "manipulation_level": 1,
404
+ "active_joints": [
405
+ 0
406
+ ],
407
+ "joint_positions": [
408
+ 0.6803826093673706
409
+ ],
410
+ "cam_pose": [
411
+ -2.5803518295288086,
412
+ 0.26004743576049805,
413
+ 0.6982908844947815
414
+ ],
415
+ "cam_distance": 2.685786485671997
416
+ },
417
+ {
418
+ "frame": 24,
419
+ "take": 1,
420
+ "manipulation_level": 1,
421
+ "active_joints": [
422
+ 0
423
+ ],
424
+ "joint_positions": [
425
+ 0.7099644541740417
426
+ ],
427
+ "cam_pose": [
428
+ -2.5803518295288086,
429
+ 0.26004743576049805,
430
+ 0.6982908844947815
431
+ ],
432
+ "cam_distance": 2.685786485671997
433
+ },
434
+ {
435
+ "frame": 25,
436
+ "take": 1,
437
+ "manipulation_level": 1,
438
+ "active_joints": [
439
+ 0
440
+ ],
441
+ "joint_positions": [
442
+ 0.7395462989807129
443
+ ],
444
+ "cam_pose": [
445
+ -2.5803518295288086,
446
+ 0.26004743576049805,
447
+ 0.6982908844947815
448
+ ],
449
+ "cam_distance": 2.685786485671997
450
+ },
451
+ {
452
+ "frame": 26,
453
+ "take": 1,
454
+ "manipulation_level": 1,
455
+ "active_joints": [
456
+ 0
457
+ ],
458
+ "joint_positions": [
459
+ 0.769128143787384
460
+ ],
461
+ "cam_pose": [
462
+ -2.5803518295288086,
463
+ 0.26004743576049805,
464
+ 0.6982908844947815
465
+ ],
466
+ "cam_distance": 2.685786485671997
467
+ },
468
+ {
469
+ "frame": 27,
470
+ "take": 1,
471
+ "manipulation_level": 1,
472
+ "active_joints": [
473
+ 0
474
+ ],
475
+ "joint_positions": [
476
+ 0.7987099885940552
477
+ ],
478
+ "cam_pose": [
479
+ -2.5803518295288086,
480
+ 0.26004743576049805,
481
+ 0.6982908844947815
482
+ ],
483
+ "cam_distance": 2.685786485671997
484
+ },
485
+ {
486
+ "frame": 28,
487
+ "take": 1,
488
+ "manipulation_level": 1,
489
+ "active_joints": [
490
+ 0
491
+ ],
492
+ "joint_positions": [
493
+ 0.8282918334007263
494
+ ],
495
+ "cam_pose": [
496
+ -2.5803518295288086,
497
+ 0.26004743576049805,
498
+ 0.6982908844947815
499
+ ],
500
+ "cam_distance": 2.685786485671997
501
+ },
502
+ {
503
+ "frame": 29,
504
+ "take": 1,
505
+ "manipulation_level": 1,
506
+ "active_joints": [
507
+ 0
508
+ ],
509
+ "joint_positions": [
510
+ 0.8578736782073975
511
+ ],
512
+ "cam_pose": [
513
+ -2.5803518295288086,
514
+ 0.26004743576049805,
515
+ 0.6982908844947815
516
+ ],
517
+ "cam_distance": 2.685786485671997
518
+ },
519
+ {
520
+ "frame": 30,
521
+ "take": 1,
522
+ "manipulation_level": 1,
523
+ "active_joints": [
524
+ 0
525
+ ],
526
+ "joint_positions": [
527
+ 0.8874555230140686
528
+ ],
529
+ "cam_pose": [
530
+ -2.5803518295288086,
531
+ 0.26004743576049805,
532
+ 0.6982908844947815
533
+ ],
534
+ "cam_distance": 2.685786485671997
535
+ },
536
+ {
537
+ "frame": 31,
538
+ "take": 1,
539
+ "manipulation_level": 1,
540
+ "active_joints": [
541
+ 0
542
+ ],
543
+ "joint_positions": [
544
+ 0.9170374274253845
545
+ ],
546
+ "cam_pose": [
547
+ -2.5803518295288086,
548
+ 0.26004743576049805,
549
+ 0.6982908844947815
550
+ ],
551
+ "cam_distance": 2.685786485671997
552
+ },
553
+ {
554
+ "frame": 32,
555
+ "take": 1,
556
+ "manipulation_level": 1,
557
+ "active_joints": [
558
+ 0
559
+ ],
560
+ "joint_positions": [
561
+ 0.9466192722320557
562
+ ],
563
+ "cam_pose": [
564
+ -2.5803518295288086,
565
+ 0.26004743576049805,
566
+ 0.6982908844947815
567
+ ],
568
+ "cam_distance": 2.685786485671997
569
+ },
570
+ {
571
+ "frame": 33,
572
+ "take": 1,
573
+ "manipulation_level": 1,
574
+ "active_joints": [
575
+ 0
576
+ ],
577
+ "joint_positions": [
578
+ 0.9762011170387268
579
+ ],
580
+ "cam_pose": [
581
+ -2.5803518295288086,
582
+ 0.26004743576049805,
583
+ 0.6982908844947815
584
+ ],
585
+ "cam_distance": 2.685786485671997
586
+ },
587
+ {
588
+ "frame": 34,
589
+ "take": 1,
590
+ "manipulation_level": 1,
591
+ "active_joints": [
592
+ 0
593
+ ],
594
+ "joint_positions": [
595
+ 1.005782961845398
596
+ ],
597
+ "cam_pose": [
598
+ -2.5803518295288086,
599
+ 0.26004743576049805,
600
+ 0.6982908844947815
601
+ ],
602
+ "cam_distance": 2.685786485671997
603
+ },
604
+ {
605
+ "frame": 35,
606
+ "take": 1,
607
+ "manipulation_level": 1,
608
+ "active_joints": [
609
+ 0
610
+ ],
611
+ "joint_positions": [
612
+ 1.0353648662567139
613
+ ],
614
+ "cam_pose": [
615
+ -2.5803518295288086,
616
+ 0.26004743576049805,
617
+ 0.6982908844947815
618
+ ],
619
+ "cam_distance": 2.685786485671997
620
+ },
621
+ {
622
+ "frame": 36,
623
+ "take": 1,
624
+ "manipulation_level": 1,
625
+ "active_joints": [
626
+ 0
627
+ ],
628
+ "joint_positions": [
629
+ 1.0649466514587402
630
+ ],
631
+ "cam_pose": [
632
+ -2.5803518295288086,
633
+ 0.26004743576049805,
634
+ 0.6982908844947815
635
+ ],
636
+ "cam_distance": 2.685786485671997
637
+ },
638
+ {
639
+ "frame": 37,
640
+ "take": 1,
641
+ "manipulation_level": 1,
642
+ "active_joints": [
643
+ 0
644
+ ],
645
+ "joint_positions": [
646
+ 1.0945285558700562
647
+ ],
648
+ "cam_pose": [
649
+ -2.5803518295288086,
650
+ 0.26004743576049805,
651
+ 0.6982908844947815
652
+ ],
653
+ "cam_distance": 2.685786485671997
654
+ },
655
+ {
656
+ "frame": 38,
657
+ "take": 1,
658
+ "manipulation_level": 1,
659
+ "active_joints": [
660
+ 0
661
+ ],
662
+ "joint_positions": [
663
+ 1.1241103410720825
664
+ ],
665
+ "cam_pose": [
666
+ -2.5803518295288086,
667
+ 0.26004743576049805,
668
+ 0.6982908844947815
669
+ ],
670
+ "cam_distance": 2.685786485671997
671
+ },
672
+ {
673
+ "frame": 39,
674
+ "take": 1,
675
+ "manipulation_level": 1,
676
+ "active_joints": [
677
+ 0
678
+ ],
679
+ "joint_positions": [
680
+ 1.1536922454833984
681
+ ],
682
+ "cam_pose": [
683
+ -2.5803518295288086,
684
+ 0.26004743576049805,
685
+ 0.6982908844947815
686
+ ],
687
+ "cam_distance": 2.685786485671997
688
+ },
689
+ {
690
+ "frame": 40,
691
+ "take": 1,
692
+ "manipulation_level": 1,
693
+ "active_joints": [
694
+ 0
695
+ ],
696
+ "joint_positions": [
697
+ 1.1832740306854248
698
+ ],
699
+ "cam_pose": [
700
+ -2.5803518295288086,
701
+ 0.26004743576049805,
702
+ 0.6982908844947815
703
+ ],
704
+ "cam_distance": 2.685786485671997
705
+ },
706
+ {
707
+ "frame": 41,
708
+ "take": 1,
709
+ "manipulation_level": 1,
710
+ "active_joints": [
711
+ 0
712
+ ],
713
+ "joint_positions": [
714
+ 1.2128559350967407
715
+ ],
716
+ "cam_pose": [
717
+ -2.5803518295288086,
718
+ 0.26004743576049805,
719
+ 0.6982908844947815
720
+ ],
721
+ "cam_distance": 2.685786485671997
722
+ },
723
+ {
724
+ "frame": 42,
725
+ "take": 1,
726
+ "manipulation_level": 1,
727
+ "active_joints": [
728
+ 0
729
+ ],
730
+ "joint_positions": [
731
+ 1.242437720298767
732
+ ],
733
+ "cam_pose": [
734
+ -2.5803518295288086,
735
+ 0.26004743576049805,
736
+ 0.6982908844947815
737
+ ],
738
+ "cam_distance": 2.685786485671997
739
+ },
740
+ {
741
+ "frame": 43,
742
+ "take": 1,
743
+ "manipulation_level": 1,
744
+ "active_joints": [
745
+ 0
746
+ ],
747
+ "joint_positions": [
748
+ 1.272019624710083
749
+ ],
750
+ "cam_pose": [
751
+ -2.5803518295288086,
752
+ 0.26004743576049805,
753
+ 0.6982908844947815
754
+ ],
755
+ "cam_distance": 2.685786485671997
756
+ },
757
+ {
758
+ "frame": 44,
759
+ "take": 1,
760
+ "manipulation_level": 1,
761
+ "active_joints": [
762
+ 0
763
+ ],
764
+ "joint_positions": [
765
+ 1.301601529121399
766
+ ],
767
+ "cam_pose": [
768
+ -2.5803518295288086,
769
+ 0.26004743576049805,
770
+ 0.6982908844947815
771
+ ],
772
+ "cam_distance": 2.685786485671997
773
+ },
774
+ {
775
+ "frame": 45,
776
+ "take": 1,
777
+ "manipulation_level": 1,
778
+ "active_joints": [
779
+ 0
780
+ ],
781
+ "joint_positions": [
782
+ 1.3311833143234253
783
+ ],
784
+ "cam_pose": [
785
+ -2.5803518295288086,
786
+ 0.26004743576049805,
787
+ 0.6982908844947815
788
+ ],
789
+ "cam_distance": 2.685786485671997
790
+ },
791
+ {
792
+ "frame": 46,
793
+ "take": 1,
794
+ "manipulation_level": 1,
795
+ "active_joints": [
796
+ 0
797
+ ],
798
+ "joint_positions": [
799
+ 1.3607652187347412
800
+ ],
801
+ "cam_pose": [
802
+ -2.5803518295288086,
803
+ 0.26004743576049805,
804
+ 0.6982908844947815
805
+ ],
806
+ "cam_distance": 2.685786485671997
807
+ },
808
+ {
809
+ "frame": 47,
810
+ "take": 1,
811
+ "manipulation_level": 1,
812
+ "active_joints": [
813
+ 0
814
+ ],
815
+ "joint_positions": [
816
+ 1.3903470039367676
817
+ ],
818
+ "cam_pose": [
819
+ -2.5803518295288086,
820
+ 0.26004743576049805,
821
+ 0.6982908844947815
822
+ ],
823
+ "cam_distance": 2.685786485671997
824
+ },
825
+ {
826
+ "frame": 48,
827
+ "take": 1,
828
+ "manipulation_level": 1,
829
+ "active_joints": [
830
+ 0
831
+ ],
832
+ "joint_positions": [
833
+ 1.4199289083480835
834
+ ],
835
+ "cam_pose": [
836
+ -2.5803518295288086,
837
+ 0.26004743576049805,
838
+ 0.6982908844947815
839
+ ],
840
+ "cam_distance": 2.685786485671997
841
+ },
842
+ {
843
+ "frame": 49,
844
+ "take": 1,
845
+ "manipulation_level": 1,
846
+ "active_joints": [
847
+ 0
848
+ ],
849
+ "joint_positions": [
850
+ 1.4495106935501099
851
+ ],
852
+ "cam_pose": [
853
+ -2.5803518295288086,
854
+ 0.26004743576049805,
855
+ 0.6982908844947815
856
+ ],
857
+ "cam_distance": 2.685786485671997
858
+ },
859
+ {
860
+ "frame": 50,
861
+ "take": 1,
862
+ "manipulation_level": 1,
863
+ "active_joints": [
864
+ 0
865
+ ],
866
+ "joint_positions": [
867
+ 1.4790925979614258
868
+ ],
869
+ "cam_pose": [
870
+ -2.5803518295288086,
871
+ 0.26004743576049805,
872
+ 0.6982908844947815
873
+ ],
874
+ "cam_distance": 2.685786485671997
875
+ },
876
+ {
877
+ "frame": 51,
878
+ "take": 1,
879
+ "manipulation_level": 1,
880
+ "active_joints": [
881
+ 0
882
+ ],
883
+ "joint_positions": [
884
+ 1.5086743831634521
885
+ ],
886
+ "cam_pose": [
887
+ -2.5803518295288086,
888
+ 0.26004743576049805,
889
+ 0.6982908844947815
890
+ ],
891
+ "cam_distance": 2.685786485671997
892
+ },
893
+ {
894
+ "frame": 52,
895
+ "take": 1,
896
+ "manipulation_level": 1,
897
+ "active_joints": [
898
+ 0
899
+ ],
900
+ "joint_positions": [
901
+ 1.538256287574768
902
+ ],
903
+ "cam_pose": [
904
+ -2.5803518295288086,
905
+ 0.26004743576049805,
906
+ 0.6982908844947815
907
+ ],
908
+ "cam_distance": 2.685786485671997
909
+ },
910
+ {
911
+ "frame": 53,
912
+ "take": 1,
913
+ "manipulation_level": 1,
914
+ "active_joints": [
915
+ 0
916
+ ],
917
+ "joint_positions": [
918
+ 1.567838191986084
919
+ ],
920
+ "cam_pose": [
921
+ -2.5803518295288086,
922
+ 0.26004743576049805,
923
+ 0.6982908844947815
924
+ ],
925
+ "cam_distance": 2.685786485671997
926
+ },
927
+ {
928
+ "frame": 54,
929
+ "take": 1,
930
+ "manipulation_level": 1,
931
+ "active_joints": [
932
+ 0
933
+ ],
934
+ "joint_positions": [
935
+ 1.5974199771881104
936
+ ],
937
+ "cam_pose": [
938
+ -2.5803518295288086,
939
+ 0.26004743576049805,
940
+ 0.6982908844947815
941
+ ],
942
+ "cam_distance": 2.685786485671997
943
+ },
944
+ {
945
+ "frame": 55,
946
+ "take": 1,
947
+ "manipulation_level": 1,
948
+ "active_joints": [
949
+ 0
950
+ ],
951
+ "joint_positions": [
952
+ 1.6270018815994263
953
+ ],
954
+ "cam_pose": [
955
+ -2.5803518295288086,
956
+ 0.26004743576049805,
957
+ 0.6982908844947815
958
+ ],
959
+ "cam_distance": 2.685786485671997
960
+ },
961
+ {
962
+ "frame": 56,
963
+ "take": 1,
964
+ "manipulation_level": 1,
965
+ "active_joints": [
966
+ 0
967
+ ],
968
+ "joint_positions": [
969
+ 1.6565836668014526
970
+ ],
971
+ "cam_pose": [
972
+ -2.5803518295288086,
973
+ 0.26004743576049805,
974
+ 0.6982908844947815
975
+ ],
976
+ "cam_distance": 2.685786485671997
977
+ },
978
+ {
979
+ "frame": 57,
980
+ "take": 1,
981
+ "manipulation_level": 1,
982
+ "active_joints": [
983
+ 0
984
+ ],
985
+ "joint_positions": [
986
+ 1.6861655712127686
987
+ ],
988
+ "cam_pose": [
989
+ -2.5803518295288086,
990
+ 0.26004743576049805,
991
+ 0.6982908844947815
992
+ ],
993
+ "cam_distance": 2.685786485671997
994
+ },
995
+ {
996
+ "frame": 58,
997
+ "take": 1,
998
+ "manipulation_level": 1,
999
+ "active_joints": [
1000
+ 0
1001
+ ],
1002
+ "joint_positions": [
1003
+ 1.715747356414795
1004
+ ],
1005
+ "cam_pose": [
1006
+ -2.5803518295288086,
1007
+ 0.26004743576049805,
1008
+ 0.6982908844947815
1009
+ ],
1010
+ "cam_distance": 2.685786485671997
1011
+ },
1012
+ {
1013
+ "frame": 59,
1014
+ "take": 1,
1015
+ "manipulation_level": 1,
1016
+ "active_joints": [
1017
+ 0
1018
+ ],
1019
+ "joint_positions": [
1020
+ 1.7453292608261108
1021
+ ],
1022
+ "cam_pose": [
1023
+ -2.5803518295288086,
1024
+ 0.26004743576049805,
1025
+ 0.6982908844947815
1026
+ ],
1027
+ "cam_distance": 2.685786485671997
1028
+ }
1029
+ ]
1030
+ }
manipulation_1/38516/take_02/metadata.json ADDED
@@ -0,0 +1,1030 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object_id": "38516",
3
+ "manipulation_level": 1,
4
+ "active_joints": [
5
+ 0
6
+ ],
7
+ "total_joints": 1,
8
+ "frames": [
9
+ {
10
+ "frame": 0,
11
+ "take": 2,
12
+ "manipulation_level": 1,
13
+ "active_joints": [
14
+ 0
15
+ ],
16
+ "joint_positions": [
17
+ 0.0
18
+ ],
19
+ "cam_pose": [
20
+ -2.8020708560943604,
21
+ 0.36929649114608765,
22
+ 0.6252015233039856
23
+ ],
24
+ "cam_distance": 2.894625425338745
25
+ },
26
+ {
27
+ "frame": 1,
28
+ "take": 2,
29
+ "manipulation_level": 1,
30
+ "active_joints": [
31
+ 0
32
+ ],
33
+ "joint_positions": [
34
+ 0.02958185225725174
35
+ ],
36
+ "cam_pose": [
37
+ -2.8020708560943604,
38
+ 0.36929649114608765,
39
+ 0.6252015233039856
40
+ ],
41
+ "cam_distance": 2.894625425338745
42
+ },
43
+ {
44
+ "frame": 2,
45
+ "take": 2,
46
+ "manipulation_level": 1,
47
+ "active_joints": [
48
+ 0
49
+ ],
50
+ "joint_positions": [
51
+ 0.05916370451450348
52
+ ],
53
+ "cam_pose": [
54
+ -2.8020708560943604,
55
+ 0.36929649114608765,
56
+ 0.6252015233039856
57
+ ],
58
+ "cam_distance": 2.894625425338745
59
+ },
60
+ {
61
+ "frame": 3,
62
+ "take": 2,
63
+ "manipulation_level": 1,
64
+ "active_joints": [
65
+ 0
66
+ ],
67
+ "joint_positions": [
68
+ 0.08874555677175522
69
+ ],
70
+ "cam_pose": [
71
+ -2.8020708560943604,
72
+ 0.36929649114608765,
73
+ 0.6252015233039856
74
+ ],
75
+ "cam_distance": 2.894625425338745
76
+ },
77
+ {
78
+ "frame": 4,
79
+ "take": 2,
80
+ "manipulation_level": 1,
81
+ "active_joints": [
82
+ 0
83
+ ],
84
+ "joint_positions": [
85
+ 0.11832740902900696
86
+ ],
87
+ "cam_pose": [
88
+ -2.8020708560943604,
89
+ 0.36929649114608765,
90
+ 0.6252015233039856
91
+ ],
92
+ "cam_distance": 2.894625425338745
93
+ },
94
+ {
95
+ "frame": 5,
96
+ "take": 2,
97
+ "manipulation_level": 1,
98
+ "active_joints": [
99
+ 0
100
+ ],
101
+ "joint_positions": [
102
+ 0.1479092538356781
103
+ ],
104
+ "cam_pose": [
105
+ -2.8020708560943604,
106
+ 0.36929649114608765,
107
+ 0.6252015233039856
108
+ ],
109
+ "cam_distance": 2.894625425338745
110
+ },
111
+ {
112
+ "frame": 6,
113
+ "take": 2,
114
+ "manipulation_level": 1,
115
+ "active_joints": [
116
+ 0
117
+ ],
118
+ "joint_positions": [
119
+ 0.17749111354351044
120
+ ],
121
+ "cam_pose": [
122
+ -2.8020708560943604,
123
+ 0.36929649114608765,
124
+ 0.6252015233039856
125
+ ],
126
+ "cam_distance": 2.894625425338745
127
+ },
128
+ {
129
+ "frame": 7,
130
+ "take": 2,
131
+ "manipulation_level": 1,
132
+ "active_joints": [
133
+ 0
134
+ ],
135
+ "joint_positions": [
136
+ 0.20707295835018158
137
+ ],
138
+ "cam_pose": [
139
+ -2.8020708560943604,
140
+ 0.36929649114608765,
141
+ 0.6252015233039856
142
+ ],
143
+ "cam_distance": 2.894625425338745
144
+ },
145
+ {
146
+ "frame": 8,
147
+ "take": 2,
148
+ "manipulation_level": 1,
149
+ "active_joints": [
150
+ 0
151
+ ],
152
+ "joint_positions": [
153
+ 0.23665481805801392
154
+ ],
155
+ "cam_pose": [
156
+ -2.8020708560943604,
157
+ 0.36929649114608765,
158
+ 0.6252015233039856
159
+ ],
160
+ "cam_distance": 2.894625425338745
161
+ },
162
+ {
163
+ "frame": 9,
164
+ "take": 2,
165
+ "manipulation_level": 1,
166
+ "active_joints": [
167
+ 0
168
+ ],
169
+ "joint_positions": [
170
+ 0.26623666286468506
171
+ ],
172
+ "cam_pose": [
173
+ -2.8020708560943604,
174
+ 0.36929649114608765,
175
+ 0.6252015233039856
176
+ ],
177
+ "cam_distance": 2.894625425338745
178
+ },
179
+ {
180
+ "frame": 10,
181
+ "take": 2,
182
+ "manipulation_level": 1,
183
+ "active_joints": [
184
+ 0
185
+ ],
186
+ "joint_positions": [
187
+ 0.2958185076713562
188
+ ],
189
+ "cam_pose": [
190
+ -2.8020708560943604,
191
+ 0.36929649114608765,
192
+ 0.6252015233039856
193
+ ],
194
+ "cam_distance": 2.894625425338745
195
+ },
196
+ {
197
+ "frame": 11,
198
+ "take": 2,
199
+ "manipulation_level": 1,
200
+ "active_joints": [
201
+ 0
202
+ ],
203
+ "joint_positions": [
204
+ 0.32540038228034973
205
+ ],
206
+ "cam_pose": [
207
+ -2.8020708560943604,
208
+ 0.36929649114608765,
209
+ 0.6252015233039856
210
+ ],
211
+ "cam_distance": 2.894625425338745
212
+ },
213
+ {
214
+ "frame": 12,
215
+ "take": 2,
216
+ "manipulation_level": 1,
217
+ "active_joints": [
218
+ 0
219
+ ],
220
+ "joint_positions": [
221
+ 0.3549822270870209
222
+ ],
223
+ "cam_pose": [
224
+ -2.8020708560943604,
225
+ 0.36929649114608765,
226
+ 0.6252015233039856
227
+ ],
228
+ "cam_distance": 2.894625425338745
229
+ },
230
+ {
231
+ "frame": 13,
232
+ "take": 2,
233
+ "manipulation_level": 1,
234
+ "active_joints": [
235
+ 0
236
+ ],
237
+ "joint_positions": [
238
+ 0.384564071893692
239
+ ],
240
+ "cam_pose": [
241
+ -2.8020708560943604,
242
+ 0.36929649114608765,
243
+ 0.6252015233039856
244
+ ],
245
+ "cam_distance": 2.894625425338745
246
+ },
247
+ {
248
+ "frame": 14,
249
+ "take": 2,
250
+ "manipulation_level": 1,
251
+ "active_joints": [
252
+ 0
253
+ ],
254
+ "joint_positions": [
255
+ 0.41414591670036316
256
+ ],
257
+ "cam_pose": [
258
+ -2.8020708560943604,
259
+ 0.36929649114608765,
260
+ 0.6252015233039856
261
+ ],
262
+ "cam_distance": 2.894625425338745
263
+ },
264
+ {
265
+ "frame": 15,
266
+ "take": 2,
267
+ "manipulation_level": 1,
268
+ "active_joints": [
269
+ 0
270
+ ],
271
+ "joint_positions": [
272
+ 0.4437277615070343
273
+ ],
274
+ "cam_pose": [
275
+ -2.8020708560943604,
276
+ 0.36929649114608765,
277
+ 0.6252015233039856
278
+ ],
279
+ "cam_distance": 2.894625425338745
280
+ },
281
+ {
282
+ "frame": 16,
283
+ "take": 2,
284
+ "manipulation_level": 1,
285
+ "active_joints": [
286
+ 0
287
+ ],
288
+ "joint_positions": [
289
+ 0.47330963611602783
290
+ ],
291
+ "cam_pose": [
292
+ -2.8020708560943604,
293
+ 0.36929649114608765,
294
+ 0.6252015233039856
295
+ ],
296
+ "cam_distance": 2.894625425338745
297
+ },
298
+ {
299
+ "frame": 17,
300
+ "take": 2,
301
+ "manipulation_level": 1,
302
+ "active_joints": [
303
+ 0
304
+ ],
305
+ "joint_positions": [
306
+ 0.502891480922699
307
+ ],
308
+ "cam_pose": [
309
+ -2.8020708560943604,
310
+ 0.36929649114608765,
311
+ 0.6252015233039856
312
+ ],
313
+ "cam_distance": 2.894625425338745
314
+ },
315
+ {
316
+ "frame": 18,
317
+ "take": 2,
318
+ "manipulation_level": 1,
319
+ "active_joints": [
320
+ 0
321
+ ],
322
+ "joint_positions": [
323
+ 0.5324733257293701
324
+ ],
325
+ "cam_pose": [
326
+ -2.8020708560943604,
327
+ 0.36929649114608765,
328
+ 0.6252015233039856
329
+ ],
330
+ "cam_distance": 2.894625425338745
331
+ },
332
+ {
333
+ "frame": 19,
334
+ "take": 2,
335
+ "manipulation_level": 1,
336
+ "active_joints": [
337
+ 0
338
+ ],
339
+ "joint_positions": [
340
+ 0.5620551705360413
341
+ ],
342
+ "cam_pose": [
343
+ -2.8020708560943604,
344
+ 0.36929649114608765,
345
+ 0.6252015233039856
346
+ ],
347
+ "cam_distance": 2.894625425338745
348
+ },
349
+ {
350
+ "frame": 20,
351
+ "take": 2,
352
+ "manipulation_level": 1,
353
+ "active_joints": [
354
+ 0
355
+ ],
356
+ "joint_positions": [
357
+ 0.5916370153427124
358
+ ],
359
+ "cam_pose": [
360
+ -2.8020708560943604,
361
+ 0.36929649114608765,
362
+ 0.6252015233039856
363
+ ],
364
+ "cam_distance": 2.894625425338745
365
+ },
366
+ {
367
+ "frame": 21,
368
+ "take": 2,
369
+ "manipulation_level": 1,
370
+ "active_joints": [
371
+ 0
372
+ ],
373
+ "joint_positions": [
374
+ 0.6212188601493835
375
+ ],
376
+ "cam_pose": [
377
+ -2.8020708560943604,
378
+ 0.36929649114608765,
379
+ 0.6252015233039856
380
+ ],
381
+ "cam_distance": 2.894625425338745
382
+ },
383
+ {
384
+ "frame": 22,
385
+ "take": 2,
386
+ "manipulation_level": 1,
387
+ "active_joints": [
388
+ 0
389
+ ],
390
+ "joint_positions": [
391
+ 0.6508007645606995
392
+ ],
393
+ "cam_pose": [
394
+ -2.8020708560943604,
395
+ 0.36929649114608765,
396
+ 0.6252015233039856
397
+ ],
398
+ "cam_distance": 2.894625425338745
399
+ },
400
+ {
401
+ "frame": 23,
402
+ "take": 2,
403
+ "manipulation_level": 1,
404
+ "active_joints": [
405
+ 0
406
+ ],
407
+ "joint_positions": [
408
+ 0.6803826093673706
409
+ ],
410
+ "cam_pose": [
411
+ -2.8020708560943604,
412
+ 0.36929649114608765,
413
+ 0.6252015233039856
414
+ ],
415
+ "cam_distance": 2.894625425338745
416
+ },
417
+ {
418
+ "frame": 24,
419
+ "take": 2,
420
+ "manipulation_level": 1,
421
+ "active_joints": [
422
+ 0
423
+ ],
424
+ "joint_positions": [
425
+ 0.7099644541740417
426
+ ],
427
+ "cam_pose": [
428
+ -2.8020708560943604,
429
+ 0.36929649114608765,
430
+ 0.6252015233039856
431
+ ],
432
+ "cam_distance": 2.894625425338745
433
+ },
434
+ {
435
+ "frame": 25,
436
+ "take": 2,
437
+ "manipulation_level": 1,
438
+ "active_joints": [
439
+ 0
440
+ ],
441
+ "joint_positions": [
442
+ 0.7395462989807129
443
+ ],
444
+ "cam_pose": [
445
+ -2.8020708560943604,
446
+ 0.36929649114608765,
447
+ 0.6252015233039856
448
+ ],
449
+ "cam_distance": 2.894625425338745
450
+ },
451
+ {
452
+ "frame": 26,
453
+ "take": 2,
454
+ "manipulation_level": 1,
455
+ "active_joints": [
456
+ 0
457
+ ],
458
+ "joint_positions": [
459
+ 0.769128143787384
460
+ ],
461
+ "cam_pose": [
462
+ -2.8020708560943604,
463
+ 0.36929649114608765,
464
+ 0.6252015233039856
465
+ ],
466
+ "cam_distance": 2.894625425338745
467
+ },
468
+ {
469
+ "frame": 27,
470
+ "take": 2,
471
+ "manipulation_level": 1,
472
+ "active_joints": [
473
+ 0
474
+ ],
475
+ "joint_positions": [
476
+ 0.7987099885940552
477
+ ],
478
+ "cam_pose": [
479
+ -2.8020708560943604,
480
+ 0.36929649114608765,
481
+ 0.6252015233039856
482
+ ],
483
+ "cam_distance": 2.894625425338745
484
+ },
485
+ {
486
+ "frame": 28,
487
+ "take": 2,
488
+ "manipulation_level": 1,
489
+ "active_joints": [
490
+ 0
491
+ ],
492
+ "joint_positions": [
493
+ 0.8282918334007263
494
+ ],
495
+ "cam_pose": [
496
+ -2.8020708560943604,
497
+ 0.36929649114608765,
498
+ 0.6252015233039856
499
+ ],
500
+ "cam_distance": 2.894625425338745
501
+ },
502
+ {
503
+ "frame": 29,
504
+ "take": 2,
505
+ "manipulation_level": 1,
506
+ "active_joints": [
507
+ 0
508
+ ],
509
+ "joint_positions": [
510
+ 0.8578736782073975
511
+ ],
512
+ "cam_pose": [
513
+ -2.8020708560943604,
514
+ 0.36929649114608765,
515
+ 0.6252015233039856
516
+ ],
517
+ "cam_distance": 2.894625425338745
518
+ },
519
+ {
520
+ "frame": 30,
521
+ "take": 2,
522
+ "manipulation_level": 1,
523
+ "active_joints": [
524
+ 0
525
+ ],
526
+ "joint_positions": [
527
+ 0.8874555230140686
528
+ ],
529
+ "cam_pose": [
530
+ -2.8020708560943604,
531
+ 0.36929649114608765,
532
+ 0.6252015233039856
533
+ ],
534
+ "cam_distance": 2.894625425338745
535
+ },
536
+ {
537
+ "frame": 31,
538
+ "take": 2,
539
+ "manipulation_level": 1,
540
+ "active_joints": [
541
+ 0
542
+ ],
543
+ "joint_positions": [
544
+ 0.9170374274253845
545
+ ],
546
+ "cam_pose": [
547
+ -2.8020708560943604,
548
+ 0.36929649114608765,
549
+ 0.6252015233039856
550
+ ],
551
+ "cam_distance": 2.894625425338745
552
+ },
553
+ {
554
+ "frame": 32,
555
+ "take": 2,
556
+ "manipulation_level": 1,
557
+ "active_joints": [
558
+ 0
559
+ ],
560
+ "joint_positions": [
561
+ 0.9466192722320557
562
+ ],
563
+ "cam_pose": [
564
+ -2.8020708560943604,
565
+ 0.36929649114608765,
566
+ 0.6252015233039856
567
+ ],
568
+ "cam_distance": 2.894625425338745
569
+ },
570
+ {
571
+ "frame": 33,
572
+ "take": 2,
573
+ "manipulation_level": 1,
574
+ "active_joints": [
575
+ 0
576
+ ],
577
+ "joint_positions": [
578
+ 0.9762011170387268
579
+ ],
580
+ "cam_pose": [
581
+ -2.8020708560943604,
582
+ 0.36929649114608765,
583
+ 0.6252015233039856
584
+ ],
585
+ "cam_distance": 2.894625425338745
586
+ },
587
+ {
588
+ "frame": 34,
589
+ "take": 2,
590
+ "manipulation_level": 1,
591
+ "active_joints": [
592
+ 0
593
+ ],
594
+ "joint_positions": [
595
+ 1.005782961845398
596
+ ],
597
+ "cam_pose": [
598
+ -2.8020708560943604,
599
+ 0.36929649114608765,
600
+ 0.6252015233039856
601
+ ],
602
+ "cam_distance": 2.894625425338745
603
+ },
604
+ {
605
+ "frame": 35,
606
+ "take": 2,
607
+ "manipulation_level": 1,
608
+ "active_joints": [
609
+ 0
610
+ ],
611
+ "joint_positions": [
612
+ 1.0353648662567139
613
+ ],
614
+ "cam_pose": [
615
+ -2.8020708560943604,
616
+ 0.36929649114608765,
617
+ 0.6252015233039856
618
+ ],
619
+ "cam_distance": 2.894625425338745
620
+ },
621
+ {
622
+ "frame": 36,
623
+ "take": 2,
624
+ "manipulation_level": 1,
625
+ "active_joints": [
626
+ 0
627
+ ],
628
+ "joint_positions": [
629
+ 1.0649466514587402
630
+ ],
631
+ "cam_pose": [
632
+ -2.8020708560943604,
633
+ 0.36929649114608765,
634
+ 0.6252015233039856
635
+ ],
636
+ "cam_distance": 2.894625425338745
637
+ },
638
+ {
639
+ "frame": 37,
640
+ "take": 2,
641
+ "manipulation_level": 1,
642
+ "active_joints": [
643
+ 0
644
+ ],
645
+ "joint_positions": [
646
+ 1.0945285558700562
647
+ ],
648
+ "cam_pose": [
649
+ -2.8020708560943604,
650
+ 0.36929649114608765,
651
+ 0.6252015233039856
652
+ ],
653
+ "cam_distance": 2.894625425338745
654
+ },
655
+ {
656
+ "frame": 38,
657
+ "take": 2,
658
+ "manipulation_level": 1,
659
+ "active_joints": [
660
+ 0
661
+ ],
662
+ "joint_positions": [
663
+ 1.1241103410720825
664
+ ],
665
+ "cam_pose": [
666
+ -2.8020708560943604,
667
+ 0.36929649114608765,
668
+ 0.6252015233039856
669
+ ],
670
+ "cam_distance": 2.894625425338745
671
+ },
672
+ {
673
+ "frame": 39,
674
+ "take": 2,
675
+ "manipulation_level": 1,
676
+ "active_joints": [
677
+ 0
678
+ ],
679
+ "joint_positions": [
680
+ 1.1536922454833984
681
+ ],
682
+ "cam_pose": [
683
+ -2.8020708560943604,
684
+ 0.36929649114608765,
685
+ 0.6252015233039856
686
+ ],
687
+ "cam_distance": 2.894625425338745
688
+ },
689
+ {
690
+ "frame": 40,
691
+ "take": 2,
692
+ "manipulation_level": 1,
693
+ "active_joints": [
694
+ 0
695
+ ],
696
+ "joint_positions": [
697
+ 1.1832740306854248
698
+ ],
699
+ "cam_pose": [
700
+ -2.8020708560943604,
701
+ 0.36929649114608765,
702
+ 0.6252015233039856
703
+ ],
704
+ "cam_distance": 2.894625425338745
705
+ },
706
+ {
707
+ "frame": 41,
708
+ "take": 2,
709
+ "manipulation_level": 1,
710
+ "active_joints": [
711
+ 0
712
+ ],
713
+ "joint_positions": [
714
+ 1.2128559350967407
715
+ ],
716
+ "cam_pose": [
717
+ -2.8020708560943604,
718
+ 0.36929649114608765,
719
+ 0.6252015233039856
720
+ ],
721
+ "cam_distance": 2.894625425338745
722
+ },
723
+ {
724
+ "frame": 42,
725
+ "take": 2,
726
+ "manipulation_level": 1,
727
+ "active_joints": [
728
+ 0
729
+ ],
730
+ "joint_positions": [
731
+ 1.242437720298767
732
+ ],
733
+ "cam_pose": [
734
+ -2.8020708560943604,
735
+ 0.36929649114608765,
736
+ 0.6252015233039856
737
+ ],
738
+ "cam_distance": 2.894625425338745
739
+ },
740
+ {
741
+ "frame": 43,
742
+ "take": 2,
743
+ "manipulation_level": 1,
744
+ "active_joints": [
745
+ 0
746
+ ],
747
+ "joint_positions": [
748
+ 1.272019624710083
749
+ ],
750
+ "cam_pose": [
751
+ -2.8020708560943604,
752
+ 0.36929649114608765,
753
+ 0.6252015233039856
754
+ ],
755
+ "cam_distance": 2.894625425338745
756
+ },
757
+ {
758
+ "frame": 44,
759
+ "take": 2,
760
+ "manipulation_level": 1,
761
+ "active_joints": [
762
+ 0
763
+ ],
764
+ "joint_positions": [
765
+ 1.301601529121399
766
+ ],
767
+ "cam_pose": [
768
+ -2.8020708560943604,
769
+ 0.36929649114608765,
770
+ 0.6252015233039856
771
+ ],
772
+ "cam_distance": 2.894625425338745
773
+ },
774
+ {
775
+ "frame": 45,
776
+ "take": 2,
777
+ "manipulation_level": 1,
778
+ "active_joints": [
779
+ 0
780
+ ],
781
+ "joint_positions": [
782
+ 1.3311833143234253
783
+ ],
784
+ "cam_pose": [
785
+ -2.8020708560943604,
786
+ 0.36929649114608765,
787
+ 0.6252015233039856
788
+ ],
789
+ "cam_distance": 2.894625425338745
790
+ },
791
+ {
792
+ "frame": 46,
793
+ "take": 2,
794
+ "manipulation_level": 1,
795
+ "active_joints": [
796
+ 0
797
+ ],
798
+ "joint_positions": [
799
+ 1.3607652187347412
800
+ ],
801
+ "cam_pose": [
802
+ -2.8020708560943604,
803
+ 0.36929649114608765,
804
+ 0.6252015233039856
805
+ ],
806
+ "cam_distance": 2.894625425338745
807
+ },
808
+ {
809
+ "frame": 47,
810
+ "take": 2,
811
+ "manipulation_level": 1,
812
+ "active_joints": [
813
+ 0
814
+ ],
815
+ "joint_positions": [
816
+ 1.3903470039367676
817
+ ],
818
+ "cam_pose": [
819
+ -2.8020708560943604,
820
+ 0.36929649114608765,
821
+ 0.6252015233039856
822
+ ],
823
+ "cam_distance": 2.894625425338745
824
+ },
825
+ {
826
+ "frame": 48,
827
+ "take": 2,
828
+ "manipulation_level": 1,
829
+ "active_joints": [
830
+ 0
831
+ ],
832
+ "joint_positions": [
833
+ 1.4199289083480835
834
+ ],
835
+ "cam_pose": [
836
+ -2.8020708560943604,
837
+ 0.36929649114608765,
838
+ 0.6252015233039856
839
+ ],
840
+ "cam_distance": 2.894625425338745
841
+ },
842
+ {
843
+ "frame": 49,
844
+ "take": 2,
845
+ "manipulation_level": 1,
846
+ "active_joints": [
847
+ 0
848
+ ],
849
+ "joint_positions": [
850
+ 1.4495106935501099
851
+ ],
852
+ "cam_pose": [
853
+ -2.8020708560943604,
854
+ 0.36929649114608765,
855
+ 0.6252015233039856
856
+ ],
857
+ "cam_distance": 2.894625425338745
858
+ },
859
+ {
860
+ "frame": 50,
861
+ "take": 2,
862
+ "manipulation_level": 1,
863
+ "active_joints": [
864
+ 0
865
+ ],
866
+ "joint_positions": [
867
+ 1.4790925979614258
868
+ ],
869
+ "cam_pose": [
870
+ -2.8020708560943604,
871
+ 0.36929649114608765,
872
+ 0.6252015233039856
873
+ ],
874
+ "cam_distance": 2.894625425338745
875
+ },
876
+ {
877
+ "frame": 51,
878
+ "take": 2,
879
+ "manipulation_level": 1,
880
+ "active_joints": [
881
+ 0
882
+ ],
883
+ "joint_positions": [
884
+ 1.5086743831634521
885
+ ],
886
+ "cam_pose": [
887
+ -2.8020708560943604,
888
+ 0.36929649114608765,
889
+ 0.6252015233039856
890
+ ],
891
+ "cam_distance": 2.894625425338745
892
+ },
893
+ {
894
+ "frame": 52,
895
+ "take": 2,
896
+ "manipulation_level": 1,
897
+ "active_joints": [
898
+ 0
899
+ ],
900
+ "joint_positions": [
901
+ 1.538256287574768
902
+ ],
903
+ "cam_pose": [
904
+ -2.8020708560943604,
905
+ 0.36929649114608765,
906
+ 0.6252015233039856
907
+ ],
908
+ "cam_distance": 2.894625425338745
909
+ },
910
+ {
911
+ "frame": 53,
912
+ "take": 2,
913
+ "manipulation_level": 1,
914
+ "active_joints": [
915
+ 0
916
+ ],
917
+ "joint_positions": [
918
+ 1.567838191986084
919
+ ],
920
+ "cam_pose": [
921
+ -2.8020708560943604,
922
+ 0.36929649114608765,
923
+ 0.6252015233039856
924
+ ],
925
+ "cam_distance": 2.894625425338745
926
+ },
927
+ {
928
+ "frame": 54,
929
+ "take": 2,
930
+ "manipulation_level": 1,
931
+ "active_joints": [
932
+ 0
933
+ ],
934
+ "joint_positions": [
935
+ 1.5974199771881104
936
+ ],
937
+ "cam_pose": [
938
+ -2.8020708560943604,
939
+ 0.36929649114608765,
940
+ 0.6252015233039856
941
+ ],
942
+ "cam_distance": 2.894625425338745
943
+ },
944
+ {
945
+ "frame": 55,
946
+ "take": 2,
947
+ "manipulation_level": 1,
948
+ "active_joints": [
949
+ 0
950
+ ],
951
+ "joint_positions": [
952
+ 1.6270018815994263
953
+ ],
954
+ "cam_pose": [
955
+ -2.8020708560943604,
956
+ 0.36929649114608765,
957
+ 0.6252015233039856
958
+ ],
959
+ "cam_distance": 2.894625425338745
960
+ },
961
+ {
962
+ "frame": 56,
963
+ "take": 2,
964
+ "manipulation_level": 1,
965
+ "active_joints": [
966
+ 0
967
+ ],
968
+ "joint_positions": [
969
+ 1.6565836668014526
970
+ ],
971
+ "cam_pose": [
972
+ -2.8020708560943604,
973
+ 0.36929649114608765,
974
+ 0.6252015233039856
975
+ ],
976
+ "cam_distance": 2.894625425338745
977
+ },
978
+ {
979
+ "frame": 57,
980
+ "take": 2,
981
+ "manipulation_level": 1,
982
+ "active_joints": [
983
+ 0
984
+ ],
985
+ "joint_positions": [
986
+ 1.6861655712127686
987
+ ],
988
+ "cam_pose": [
989
+ -2.8020708560943604,
990
+ 0.36929649114608765,
991
+ 0.6252015233039856
992
+ ],
993
+ "cam_distance": 2.894625425338745
994
+ },
995
+ {
996
+ "frame": 58,
997
+ "take": 2,
998
+ "manipulation_level": 1,
999
+ "active_joints": [
1000
+ 0
1001
+ ],
1002
+ "joint_positions": [
1003
+ 1.715747356414795
1004
+ ],
1005
+ "cam_pose": [
1006
+ -2.8020708560943604,
1007
+ 0.36929649114608765,
1008
+ 0.6252015233039856
1009
+ ],
1010
+ "cam_distance": 2.894625425338745
1011
+ },
1012
+ {
1013
+ "frame": 59,
1014
+ "take": 2,
1015
+ "manipulation_level": 1,
1016
+ "active_joints": [
1017
+ 0
1018
+ ],
1019
+ "joint_positions": [
1020
+ 1.7453292608261108
1021
+ ],
1022
+ "cam_pose": [
1023
+ -2.8020708560943604,
1024
+ 0.36929649114608765,
1025
+ 0.6252015233039856
1026
+ ],
1027
+ "cam_distance": 2.894625425338745
1028
+ }
1029
+ ]
1030
+ }
manipulation_1/38516/take_03/metadata.json ADDED
@@ -0,0 +1,1030 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object_id": "38516",
3
+ "manipulation_level": 1,
4
+ "active_joints": [
5
+ 0
6
+ ],
7
+ "total_joints": 1,
8
+ "frames": [
9
+ {
10
+ "frame": 0,
11
+ "take": 3,
12
+ "manipulation_level": 1,
13
+ "active_joints": [
14
+ 0
15
+ ],
16
+ "joint_positions": [
17
+ 0.0
18
+ ],
19
+ "cam_pose": [
20
+ -2.9104983806610107,
21
+ 0.39692917466163635,
22
+ 0.44174695014953613
23
+ ],
24
+ "cam_distance": 2.9704699516296387
25
+ },
26
+ {
27
+ "frame": 1,
28
+ "take": 3,
29
+ "manipulation_level": 1,
30
+ "active_joints": [
31
+ 0
32
+ ],
33
+ "joint_positions": [
34
+ 0.02958185225725174
35
+ ],
36
+ "cam_pose": [
37
+ -2.9104983806610107,
38
+ 0.39692917466163635,
39
+ 0.44174695014953613
40
+ ],
41
+ "cam_distance": 2.9704699516296387
42
+ },
43
+ {
44
+ "frame": 2,
45
+ "take": 3,
46
+ "manipulation_level": 1,
47
+ "active_joints": [
48
+ 0
49
+ ],
50
+ "joint_positions": [
51
+ 0.05916370451450348
52
+ ],
53
+ "cam_pose": [
54
+ -2.9104983806610107,
55
+ 0.39692917466163635,
56
+ 0.44174695014953613
57
+ ],
58
+ "cam_distance": 2.9704699516296387
59
+ },
60
+ {
61
+ "frame": 3,
62
+ "take": 3,
63
+ "manipulation_level": 1,
64
+ "active_joints": [
65
+ 0
66
+ ],
67
+ "joint_positions": [
68
+ 0.08874555677175522
69
+ ],
70
+ "cam_pose": [
71
+ -2.9104983806610107,
72
+ 0.39692917466163635,
73
+ 0.44174695014953613
74
+ ],
75
+ "cam_distance": 2.9704699516296387
76
+ },
77
+ {
78
+ "frame": 4,
79
+ "take": 3,
80
+ "manipulation_level": 1,
81
+ "active_joints": [
82
+ 0
83
+ ],
84
+ "joint_positions": [
85
+ 0.11832740902900696
86
+ ],
87
+ "cam_pose": [
88
+ -2.9104983806610107,
89
+ 0.39692917466163635,
90
+ 0.44174695014953613
91
+ ],
92
+ "cam_distance": 2.9704699516296387
93
+ },
94
+ {
95
+ "frame": 5,
96
+ "take": 3,
97
+ "manipulation_level": 1,
98
+ "active_joints": [
99
+ 0
100
+ ],
101
+ "joint_positions": [
102
+ 0.1479092538356781
103
+ ],
104
+ "cam_pose": [
105
+ -2.9104983806610107,
106
+ 0.39692917466163635,
107
+ 0.44174695014953613
108
+ ],
109
+ "cam_distance": 2.9704699516296387
110
+ },
111
+ {
112
+ "frame": 6,
113
+ "take": 3,
114
+ "manipulation_level": 1,
115
+ "active_joints": [
116
+ 0
117
+ ],
118
+ "joint_positions": [
119
+ 0.17749111354351044
120
+ ],
121
+ "cam_pose": [
122
+ -2.9104983806610107,
123
+ 0.39692917466163635,
124
+ 0.44174695014953613
125
+ ],
126
+ "cam_distance": 2.9704699516296387
127
+ },
128
+ {
129
+ "frame": 7,
130
+ "take": 3,
131
+ "manipulation_level": 1,
132
+ "active_joints": [
133
+ 0
134
+ ],
135
+ "joint_positions": [
136
+ 0.20707295835018158
137
+ ],
138
+ "cam_pose": [
139
+ -2.9104983806610107,
140
+ 0.39692917466163635,
141
+ 0.44174695014953613
142
+ ],
143
+ "cam_distance": 2.9704699516296387
144
+ },
145
+ {
146
+ "frame": 8,
147
+ "take": 3,
148
+ "manipulation_level": 1,
149
+ "active_joints": [
150
+ 0
151
+ ],
152
+ "joint_positions": [
153
+ 0.23665481805801392
154
+ ],
155
+ "cam_pose": [
156
+ -2.9104983806610107,
157
+ 0.39692917466163635,
158
+ 0.44174695014953613
159
+ ],
160
+ "cam_distance": 2.9704699516296387
161
+ },
162
+ {
163
+ "frame": 9,
164
+ "take": 3,
165
+ "manipulation_level": 1,
166
+ "active_joints": [
167
+ 0
168
+ ],
169
+ "joint_positions": [
170
+ 0.26623666286468506
171
+ ],
172
+ "cam_pose": [
173
+ -2.9104983806610107,
174
+ 0.39692917466163635,
175
+ 0.44174695014953613
176
+ ],
177
+ "cam_distance": 2.9704699516296387
178
+ },
179
+ {
180
+ "frame": 10,
181
+ "take": 3,
182
+ "manipulation_level": 1,
183
+ "active_joints": [
184
+ 0
185
+ ],
186
+ "joint_positions": [
187
+ 0.2958185076713562
188
+ ],
189
+ "cam_pose": [
190
+ -2.9104983806610107,
191
+ 0.39692917466163635,
192
+ 0.44174695014953613
193
+ ],
194
+ "cam_distance": 2.9704699516296387
195
+ },
196
+ {
197
+ "frame": 11,
198
+ "take": 3,
199
+ "manipulation_level": 1,
200
+ "active_joints": [
201
+ 0
202
+ ],
203
+ "joint_positions": [
204
+ 0.32540038228034973
205
+ ],
206
+ "cam_pose": [
207
+ -2.9104983806610107,
208
+ 0.39692917466163635,
209
+ 0.44174695014953613
210
+ ],
211
+ "cam_distance": 2.9704699516296387
212
+ },
213
+ {
214
+ "frame": 12,
215
+ "take": 3,
216
+ "manipulation_level": 1,
217
+ "active_joints": [
218
+ 0
219
+ ],
220
+ "joint_positions": [
221
+ 0.3549822270870209
222
+ ],
223
+ "cam_pose": [
224
+ -2.9104983806610107,
225
+ 0.39692917466163635,
226
+ 0.44174695014953613
227
+ ],
228
+ "cam_distance": 2.9704699516296387
229
+ },
230
+ {
231
+ "frame": 13,
232
+ "take": 3,
233
+ "manipulation_level": 1,
234
+ "active_joints": [
235
+ 0
236
+ ],
237
+ "joint_positions": [
238
+ 0.384564071893692
239
+ ],
240
+ "cam_pose": [
241
+ -2.9104983806610107,
242
+ 0.39692917466163635,
243
+ 0.44174695014953613
244
+ ],
245
+ "cam_distance": 2.9704699516296387
246
+ },
247
+ {
248
+ "frame": 14,
249
+ "take": 3,
250
+ "manipulation_level": 1,
251
+ "active_joints": [
252
+ 0
253
+ ],
254
+ "joint_positions": [
255
+ 0.41414591670036316
256
+ ],
257
+ "cam_pose": [
258
+ -2.9104983806610107,
259
+ 0.39692917466163635,
260
+ 0.44174695014953613
261
+ ],
262
+ "cam_distance": 2.9704699516296387
263
+ },
264
+ {
265
+ "frame": 15,
266
+ "take": 3,
267
+ "manipulation_level": 1,
268
+ "active_joints": [
269
+ 0
270
+ ],
271
+ "joint_positions": [
272
+ 0.4437277615070343
273
+ ],
274
+ "cam_pose": [
275
+ -2.9104983806610107,
276
+ 0.39692917466163635,
277
+ 0.44174695014953613
278
+ ],
279
+ "cam_distance": 2.9704699516296387
280
+ },
281
+ {
282
+ "frame": 16,
283
+ "take": 3,
284
+ "manipulation_level": 1,
285
+ "active_joints": [
286
+ 0
287
+ ],
288
+ "joint_positions": [
289
+ 0.47330963611602783
290
+ ],
291
+ "cam_pose": [
292
+ -2.9104983806610107,
293
+ 0.39692917466163635,
294
+ 0.44174695014953613
295
+ ],
296
+ "cam_distance": 2.9704699516296387
297
+ },
298
+ {
299
+ "frame": 17,
300
+ "take": 3,
301
+ "manipulation_level": 1,
302
+ "active_joints": [
303
+ 0
304
+ ],
305
+ "joint_positions": [
306
+ 0.502891480922699
307
+ ],
308
+ "cam_pose": [
309
+ -2.9104983806610107,
310
+ 0.39692917466163635,
311
+ 0.44174695014953613
312
+ ],
313
+ "cam_distance": 2.9704699516296387
314
+ },
315
+ {
316
+ "frame": 18,
317
+ "take": 3,
318
+ "manipulation_level": 1,
319
+ "active_joints": [
320
+ 0
321
+ ],
322
+ "joint_positions": [
323
+ 0.5324733257293701
324
+ ],
325
+ "cam_pose": [
326
+ -2.9104983806610107,
327
+ 0.39692917466163635,
328
+ 0.44174695014953613
329
+ ],
330
+ "cam_distance": 2.9704699516296387
331
+ },
332
+ {
333
+ "frame": 19,
334
+ "take": 3,
335
+ "manipulation_level": 1,
336
+ "active_joints": [
337
+ 0
338
+ ],
339
+ "joint_positions": [
340
+ 0.5620551705360413
341
+ ],
342
+ "cam_pose": [
343
+ -2.9104983806610107,
344
+ 0.39692917466163635,
345
+ 0.44174695014953613
346
+ ],
347
+ "cam_distance": 2.9704699516296387
348
+ },
349
+ {
350
+ "frame": 20,
351
+ "take": 3,
352
+ "manipulation_level": 1,
353
+ "active_joints": [
354
+ 0
355
+ ],
356
+ "joint_positions": [
357
+ 0.5916370153427124
358
+ ],
359
+ "cam_pose": [
360
+ -2.9104983806610107,
361
+ 0.39692917466163635,
362
+ 0.44174695014953613
363
+ ],
364
+ "cam_distance": 2.9704699516296387
365
+ },
366
+ {
367
+ "frame": 21,
368
+ "take": 3,
369
+ "manipulation_level": 1,
370
+ "active_joints": [
371
+ 0
372
+ ],
373
+ "joint_positions": [
374
+ 0.6212188601493835
375
+ ],
376
+ "cam_pose": [
377
+ -2.9104983806610107,
378
+ 0.39692917466163635,
379
+ 0.44174695014953613
380
+ ],
381
+ "cam_distance": 2.9704699516296387
382
+ },
383
+ {
384
+ "frame": 22,
385
+ "take": 3,
386
+ "manipulation_level": 1,
387
+ "active_joints": [
388
+ 0
389
+ ],
390
+ "joint_positions": [
391
+ 0.6508007645606995
392
+ ],
393
+ "cam_pose": [
394
+ -2.9104983806610107,
395
+ 0.39692917466163635,
396
+ 0.44174695014953613
397
+ ],
398
+ "cam_distance": 2.9704699516296387
399
+ },
400
+ {
401
+ "frame": 23,
402
+ "take": 3,
403
+ "manipulation_level": 1,
404
+ "active_joints": [
405
+ 0
406
+ ],
407
+ "joint_positions": [
408
+ 0.6803826093673706
409
+ ],
410
+ "cam_pose": [
411
+ -2.9104983806610107,
412
+ 0.39692917466163635,
413
+ 0.44174695014953613
414
+ ],
415
+ "cam_distance": 2.9704699516296387
416
+ },
417
+ {
418
+ "frame": 24,
419
+ "take": 3,
420
+ "manipulation_level": 1,
421
+ "active_joints": [
422
+ 0
423
+ ],
424
+ "joint_positions": [
425
+ 0.7099644541740417
426
+ ],
427
+ "cam_pose": [
428
+ -2.9104983806610107,
429
+ 0.39692917466163635,
430
+ 0.44174695014953613
431
+ ],
432
+ "cam_distance": 2.9704699516296387
433
+ },
434
+ {
435
+ "frame": 25,
436
+ "take": 3,
437
+ "manipulation_level": 1,
438
+ "active_joints": [
439
+ 0
440
+ ],
441
+ "joint_positions": [
442
+ 0.7395462989807129
443
+ ],
444
+ "cam_pose": [
445
+ -2.9104983806610107,
446
+ 0.39692917466163635,
447
+ 0.44174695014953613
448
+ ],
449
+ "cam_distance": 2.9704699516296387
450
+ },
451
+ {
452
+ "frame": 26,
453
+ "take": 3,
454
+ "manipulation_level": 1,
455
+ "active_joints": [
456
+ 0
457
+ ],
458
+ "joint_positions": [
459
+ 0.769128143787384
460
+ ],
461
+ "cam_pose": [
462
+ -2.9104983806610107,
463
+ 0.39692917466163635,
464
+ 0.44174695014953613
465
+ ],
466
+ "cam_distance": 2.9704699516296387
467
+ },
468
+ {
469
+ "frame": 27,
470
+ "take": 3,
471
+ "manipulation_level": 1,
472
+ "active_joints": [
473
+ 0
474
+ ],
475
+ "joint_positions": [
476
+ 0.7987099885940552
477
+ ],
478
+ "cam_pose": [
479
+ -2.9104983806610107,
480
+ 0.39692917466163635,
481
+ 0.44174695014953613
482
+ ],
483
+ "cam_distance": 2.9704699516296387
484
+ },
485
+ {
486
+ "frame": 28,
487
+ "take": 3,
488
+ "manipulation_level": 1,
489
+ "active_joints": [
490
+ 0
491
+ ],
492
+ "joint_positions": [
493
+ 0.8282918334007263
494
+ ],
495
+ "cam_pose": [
496
+ -2.9104983806610107,
497
+ 0.39692917466163635,
498
+ 0.44174695014953613
499
+ ],
500
+ "cam_distance": 2.9704699516296387
501
+ },
502
+ {
503
+ "frame": 29,
504
+ "take": 3,
505
+ "manipulation_level": 1,
506
+ "active_joints": [
507
+ 0
508
+ ],
509
+ "joint_positions": [
510
+ 0.8578736782073975
511
+ ],
512
+ "cam_pose": [
513
+ -2.9104983806610107,
514
+ 0.39692917466163635,
515
+ 0.44174695014953613
516
+ ],
517
+ "cam_distance": 2.9704699516296387
518
+ },
519
+ {
520
+ "frame": 30,
521
+ "take": 3,
522
+ "manipulation_level": 1,
523
+ "active_joints": [
524
+ 0
525
+ ],
526
+ "joint_positions": [
527
+ 0.8874555230140686
528
+ ],
529
+ "cam_pose": [
530
+ -2.9104983806610107,
531
+ 0.39692917466163635,
532
+ 0.44174695014953613
533
+ ],
534
+ "cam_distance": 2.9704699516296387
535
+ },
536
+ {
537
+ "frame": 31,
538
+ "take": 3,
539
+ "manipulation_level": 1,
540
+ "active_joints": [
541
+ 0
542
+ ],
543
+ "joint_positions": [
544
+ 0.9170374274253845
545
+ ],
546
+ "cam_pose": [
547
+ -2.9104983806610107,
548
+ 0.39692917466163635,
549
+ 0.44174695014953613
550
+ ],
551
+ "cam_distance": 2.9704699516296387
552
+ },
553
+ {
554
+ "frame": 32,
555
+ "take": 3,
556
+ "manipulation_level": 1,
557
+ "active_joints": [
558
+ 0
559
+ ],
560
+ "joint_positions": [
561
+ 0.9466192722320557
562
+ ],
563
+ "cam_pose": [
564
+ -2.9104983806610107,
565
+ 0.39692917466163635,
566
+ 0.44174695014953613
567
+ ],
568
+ "cam_distance": 2.9704699516296387
569
+ },
570
+ {
571
+ "frame": 33,
572
+ "take": 3,
573
+ "manipulation_level": 1,
574
+ "active_joints": [
575
+ 0
576
+ ],
577
+ "joint_positions": [
578
+ 0.9762011170387268
579
+ ],
580
+ "cam_pose": [
581
+ -2.9104983806610107,
582
+ 0.39692917466163635,
583
+ 0.44174695014953613
584
+ ],
585
+ "cam_distance": 2.9704699516296387
586
+ },
587
+ {
588
+ "frame": 34,
589
+ "take": 3,
590
+ "manipulation_level": 1,
591
+ "active_joints": [
592
+ 0
593
+ ],
594
+ "joint_positions": [
595
+ 1.005782961845398
596
+ ],
597
+ "cam_pose": [
598
+ -2.9104983806610107,
599
+ 0.39692917466163635,
600
+ 0.44174695014953613
601
+ ],
602
+ "cam_distance": 2.9704699516296387
603
+ },
604
+ {
605
+ "frame": 35,
606
+ "take": 3,
607
+ "manipulation_level": 1,
608
+ "active_joints": [
609
+ 0
610
+ ],
611
+ "joint_positions": [
612
+ 1.0353648662567139
613
+ ],
614
+ "cam_pose": [
615
+ -2.9104983806610107,
616
+ 0.39692917466163635,
617
+ 0.44174695014953613
618
+ ],
619
+ "cam_distance": 2.9704699516296387
620
+ },
621
+ {
622
+ "frame": 36,
623
+ "take": 3,
624
+ "manipulation_level": 1,
625
+ "active_joints": [
626
+ 0
627
+ ],
628
+ "joint_positions": [
629
+ 1.0649466514587402
630
+ ],
631
+ "cam_pose": [
632
+ -2.9104983806610107,
633
+ 0.39692917466163635,
634
+ 0.44174695014953613
635
+ ],
636
+ "cam_distance": 2.9704699516296387
637
+ },
638
+ {
639
+ "frame": 37,
640
+ "take": 3,
641
+ "manipulation_level": 1,
642
+ "active_joints": [
643
+ 0
644
+ ],
645
+ "joint_positions": [
646
+ 1.0945285558700562
647
+ ],
648
+ "cam_pose": [
649
+ -2.9104983806610107,
650
+ 0.39692917466163635,
651
+ 0.44174695014953613
652
+ ],
653
+ "cam_distance": 2.9704699516296387
654
+ },
655
+ {
656
+ "frame": 38,
657
+ "take": 3,
658
+ "manipulation_level": 1,
659
+ "active_joints": [
660
+ 0
661
+ ],
662
+ "joint_positions": [
663
+ 1.1241103410720825
664
+ ],
665
+ "cam_pose": [
666
+ -2.9104983806610107,
667
+ 0.39692917466163635,
668
+ 0.44174695014953613
669
+ ],
670
+ "cam_distance": 2.9704699516296387
671
+ },
672
+ {
673
+ "frame": 39,
674
+ "take": 3,
675
+ "manipulation_level": 1,
676
+ "active_joints": [
677
+ 0
678
+ ],
679
+ "joint_positions": [
680
+ 1.1536922454833984
681
+ ],
682
+ "cam_pose": [
683
+ -2.9104983806610107,
684
+ 0.39692917466163635,
685
+ 0.44174695014953613
686
+ ],
687
+ "cam_distance": 2.9704699516296387
688
+ },
689
+ {
690
+ "frame": 40,
691
+ "take": 3,
692
+ "manipulation_level": 1,
693
+ "active_joints": [
694
+ 0
695
+ ],
696
+ "joint_positions": [
697
+ 1.1832740306854248
698
+ ],
699
+ "cam_pose": [
700
+ -2.9104983806610107,
701
+ 0.39692917466163635,
702
+ 0.44174695014953613
703
+ ],
704
+ "cam_distance": 2.9704699516296387
705
+ },
706
+ {
707
+ "frame": 41,
708
+ "take": 3,
709
+ "manipulation_level": 1,
710
+ "active_joints": [
711
+ 0
712
+ ],
713
+ "joint_positions": [
714
+ 1.2128559350967407
715
+ ],
716
+ "cam_pose": [
717
+ -2.9104983806610107,
718
+ 0.39692917466163635,
719
+ 0.44174695014953613
720
+ ],
721
+ "cam_distance": 2.9704699516296387
722
+ },
723
+ {
724
+ "frame": 42,
725
+ "take": 3,
726
+ "manipulation_level": 1,
727
+ "active_joints": [
728
+ 0
729
+ ],
730
+ "joint_positions": [
731
+ 1.242437720298767
732
+ ],
733
+ "cam_pose": [
734
+ -2.9104983806610107,
735
+ 0.39692917466163635,
736
+ 0.44174695014953613
737
+ ],
738
+ "cam_distance": 2.9704699516296387
739
+ },
740
+ {
741
+ "frame": 43,
742
+ "take": 3,
743
+ "manipulation_level": 1,
744
+ "active_joints": [
745
+ 0
746
+ ],
747
+ "joint_positions": [
748
+ 1.272019624710083
749
+ ],
750
+ "cam_pose": [
751
+ -2.9104983806610107,
752
+ 0.39692917466163635,
753
+ 0.44174695014953613
754
+ ],
755
+ "cam_distance": 2.9704699516296387
756
+ },
757
+ {
758
+ "frame": 44,
759
+ "take": 3,
760
+ "manipulation_level": 1,
761
+ "active_joints": [
762
+ 0
763
+ ],
764
+ "joint_positions": [
765
+ 1.301601529121399
766
+ ],
767
+ "cam_pose": [
768
+ -2.9104983806610107,
769
+ 0.39692917466163635,
770
+ 0.44174695014953613
771
+ ],
772
+ "cam_distance": 2.9704699516296387
773
+ },
774
+ {
775
+ "frame": 45,
776
+ "take": 3,
777
+ "manipulation_level": 1,
778
+ "active_joints": [
779
+ 0
780
+ ],
781
+ "joint_positions": [
782
+ 1.3311833143234253
783
+ ],
784
+ "cam_pose": [
785
+ -2.9104983806610107,
786
+ 0.39692917466163635,
787
+ 0.44174695014953613
788
+ ],
789
+ "cam_distance": 2.9704699516296387
790
+ },
791
+ {
792
+ "frame": 46,
793
+ "take": 3,
794
+ "manipulation_level": 1,
795
+ "active_joints": [
796
+ 0
797
+ ],
798
+ "joint_positions": [
799
+ 1.3607652187347412
800
+ ],
801
+ "cam_pose": [
802
+ -2.9104983806610107,
803
+ 0.39692917466163635,
804
+ 0.44174695014953613
805
+ ],
806
+ "cam_distance": 2.9704699516296387
807
+ },
808
+ {
809
+ "frame": 47,
810
+ "take": 3,
811
+ "manipulation_level": 1,
812
+ "active_joints": [
813
+ 0
814
+ ],
815
+ "joint_positions": [
816
+ 1.3903470039367676
817
+ ],
818
+ "cam_pose": [
819
+ -2.9104983806610107,
820
+ 0.39692917466163635,
821
+ 0.44174695014953613
822
+ ],
823
+ "cam_distance": 2.9704699516296387
824
+ },
825
+ {
826
+ "frame": 48,
827
+ "take": 3,
828
+ "manipulation_level": 1,
829
+ "active_joints": [
830
+ 0
831
+ ],
832
+ "joint_positions": [
833
+ 1.4199289083480835
834
+ ],
835
+ "cam_pose": [
836
+ -2.9104983806610107,
837
+ 0.39692917466163635,
838
+ 0.44174695014953613
839
+ ],
840
+ "cam_distance": 2.9704699516296387
841
+ },
842
+ {
843
+ "frame": 49,
844
+ "take": 3,
845
+ "manipulation_level": 1,
846
+ "active_joints": [
847
+ 0
848
+ ],
849
+ "joint_positions": [
850
+ 1.4495106935501099
851
+ ],
852
+ "cam_pose": [
853
+ -2.9104983806610107,
854
+ 0.39692917466163635,
855
+ 0.44174695014953613
856
+ ],
857
+ "cam_distance": 2.9704699516296387
858
+ },
859
+ {
860
+ "frame": 50,
861
+ "take": 3,
862
+ "manipulation_level": 1,
863
+ "active_joints": [
864
+ 0
865
+ ],
866
+ "joint_positions": [
867
+ 1.4790925979614258
868
+ ],
869
+ "cam_pose": [
870
+ -2.9104983806610107,
871
+ 0.39692917466163635,
872
+ 0.44174695014953613
873
+ ],
874
+ "cam_distance": 2.9704699516296387
875
+ },
876
+ {
877
+ "frame": 51,
878
+ "take": 3,
879
+ "manipulation_level": 1,
880
+ "active_joints": [
881
+ 0
882
+ ],
883
+ "joint_positions": [
884
+ 1.5086743831634521
885
+ ],
886
+ "cam_pose": [
887
+ -2.9104983806610107,
888
+ 0.39692917466163635,
889
+ 0.44174695014953613
890
+ ],
891
+ "cam_distance": 2.9704699516296387
892
+ },
893
+ {
894
+ "frame": 52,
895
+ "take": 3,
896
+ "manipulation_level": 1,
897
+ "active_joints": [
898
+ 0
899
+ ],
900
+ "joint_positions": [
901
+ 1.538256287574768
902
+ ],
903
+ "cam_pose": [
904
+ -2.9104983806610107,
905
+ 0.39692917466163635,
906
+ 0.44174695014953613
907
+ ],
908
+ "cam_distance": 2.9704699516296387
909
+ },
910
+ {
911
+ "frame": 53,
912
+ "take": 3,
913
+ "manipulation_level": 1,
914
+ "active_joints": [
915
+ 0
916
+ ],
917
+ "joint_positions": [
918
+ 1.567838191986084
919
+ ],
920
+ "cam_pose": [
921
+ -2.9104983806610107,
922
+ 0.39692917466163635,
923
+ 0.44174695014953613
924
+ ],
925
+ "cam_distance": 2.9704699516296387
926
+ },
927
+ {
928
+ "frame": 54,
929
+ "take": 3,
930
+ "manipulation_level": 1,
931
+ "active_joints": [
932
+ 0
933
+ ],
934
+ "joint_positions": [
935
+ 1.5974199771881104
936
+ ],
937
+ "cam_pose": [
938
+ -2.9104983806610107,
939
+ 0.39692917466163635,
940
+ 0.44174695014953613
941
+ ],
942
+ "cam_distance": 2.9704699516296387
943
+ },
944
+ {
945
+ "frame": 55,
946
+ "take": 3,
947
+ "manipulation_level": 1,
948
+ "active_joints": [
949
+ 0
950
+ ],
951
+ "joint_positions": [
952
+ 1.6270018815994263
953
+ ],
954
+ "cam_pose": [
955
+ -2.9104983806610107,
956
+ 0.39692917466163635,
957
+ 0.44174695014953613
958
+ ],
959
+ "cam_distance": 2.9704699516296387
960
+ },
961
+ {
962
+ "frame": 56,
963
+ "take": 3,
964
+ "manipulation_level": 1,
965
+ "active_joints": [
966
+ 0
967
+ ],
968
+ "joint_positions": [
969
+ 1.6565836668014526
970
+ ],
971
+ "cam_pose": [
972
+ -2.9104983806610107,
973
+ 0.39692917466163635,
974
+ 0.44174695014953613
975
+ ],
976
+ "cam_distance": 2.9704699516296387
977
+ },
978
+ {
979
+ "frame": 57,
980
+ "take": 3,
981
+ "manipulation_level": 1,
982
+ "active_joints": [
983
+ 0
984
+ ],
985
+ "joint_positions": [
986
+ 1.6861655712127686
987
+ ],
988
+ "cam_pose": [
989
+ -2.9104983806610107,
990
+ 0.39692917466163635,
991
+ 0.44174695014953613
992
+ ],
993
+ "cam_distance": 2.9704699516296387
994
+ },
995
+ {
996
+ "frame": 58,
997
+ "take": 3,
998
+ "manipulation_level": 1,
999
+ "active_joints": [
1000
+ 0
1001
+ ],
1002
+ "joint_positions": [
1003
+ 1.715747356414795
1004
+ ],
1005
+ "cam_pose": [
1006
+ -2.9104983806610107,
1007
+ 0.39692917466163635,
1008
+ 0.44174695014953613
1009
+ ],
1010
+ "cam_distance": 2.9704699516296387
1011
+ },
1012
+ {
1013
+ "frame": 59,
1014
+ "take": 3,
1015
+ "manipulation_level": 1,
1016
+ "active_joints": [
1017
+ 0
1018
+ ],
1019
+ "joint_positions": [
1020
+ 1.7453292608261108
1021
+ ],
1022
+ "cam_pose": [
1023
+ -2.9104983806610107,
1024
+ 0.39692917466163635,
1025
+ 0.44174695014953613
1026
+ ],
1027
+ "cam_distance": 2.9704699516296387
1028
+ }
1029
+ ]
1030
+ }
manipulation_1/38516/take_04/metadata.json ADDED
@@ -0,0 +1,1030 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object_id": "38516",
3
+ "manipulation_level": 1,
4
+ "active_joints": [
5
+ 0
6
+ ],
7
+ "total_joints": 1,
8
+ "frames": [
9
+ {
10
+ "frame": 0,
11
+ "take": 4,
12
+ "manipulation_level": 1,
13
+ "active_joints": [
14
+ 0
15
+ ],
16
+ "joint_positions": [
17
+ 0.0
18
+ ],
19
+ "cam_pose": [
20
+ -2.505601644515991,
21
+ 0.007201503496617079,
22
+ 0.6135194897651672
23
+ ],
24
+ "cam_distance": 2.5796310901641846
25
+ },
26
+ {
27
+ "frame": 1,
28
+ "take": 4,
29
+ "manipulation_level": 1,
30
+ "active_joints": [
31
+ 0
32
+ ],
33
+ "joint_positions": [
34
+ 0.02958185225725174
35
+ ],
36
+ "cam_pose": [
37
+ -2.505601644515991,
38
+ 0.007201503496617079,
39
+ 0.6135194897651672
40
+ ],
41
+ "cam_distance": 2.5796310901641846
42
+ },
43
+ {
44
+ "frame": 2,
45
+ "take": 4,
46
+ "manipulation_level": 1,
47
+ "active_joints": [
48
+ 0
49
+ ],
50
+ "joint_positions": [
51
+ 0.05916370451450348
52
+ ],
53
+ "cam_pose": [
54
+ -2.505601644515991,
55
+ 0.007201503496617079,
56
+ 0.6135194897651672
57
+ ],
58
+ "cam_distance": 2.5796310901641846
59
+ },
60
+ {
61
+ "frame": 3,
62
+ "take": 4,
63
+ "manipulation_level": 1,
64
+ "active_joints": [
65
+ 0
66
+ ],
67
+ "joint_positions": [
68
+ 0.08874555677175522
69
+ ],
70
+ "cam_pose": [
71
+ -2.505601644515991,
72
+ 0.007201503496617079,
73
+ 0.6135194897651672
74
+ ],
75
+ "cam_distance": 2.5796310901641846
76
+ },
77
+ {
78
+ "frame": 4,
79
+ "take": 4,
80
+ "manipulation_level": 1,
81
+ "active_joints": [
82
+ 0
83
+ ],
84
+ "joint_positions": [
85
+ 0.11832740902900696
86
+ ],
87
+ "cam_pose": [
88
+ -2.505601644515991,
89
+ 0.007201503496617079,
90
+ 0.6135194897651672
91
+ ],
92
+ "cam_distance": 2.5796310901641846
93
+ },
94
+ {
95
+ "frame": 5,
96
+ "take": 4,
97
+ "manipulation_level": 1,
98
+ "active_joints": [
99
+ 0
100
+ ],
101
+ "joint_positions": [
102
+ 0.1479092538356781
103
+ ],
104
+ "cam_pose": [
105
+ -2.505601644515991,
106
+ 0.007201503496617079,
107
+ 0.6135194897651672
108
+ ],
109
+ "cam_distance": 2.5796310901641846
110
+ },
111
+ {
112
+ "frame": 6,
113
+ "take": 4,
114
+ "manipulation_level": 1,
115
+ "active_joints": [
116
+ 0
117
+ ],
118
+ "joint_positions": [
119
+ 0.17749111354351044
120
+ ],
121
+ "cam_pose": [
122
+ -2.505601644515991,
123
+ 0.007201503496617079,
124
+ 0.6135194897651672
125
+ ],
126
+ "cam_distance": 2.5796310901641846
127
+ },
128
+ {
129
+ "frame": 7,
130
+ "take": 4,
131
+ "manipulation_level": 1,
132
+ "active_joints": [
133
+ 0
134
+ ],
135
+ "joint_positions": [
136
+ 0.20707295835018158
137
+ ],
138
+ "cam_pose": [
139
+ -2.505601644515991,
140
+ 0.007201503496617079,
141
+ 0.6135194897651672
142
+ ],
143
+ "cam_distance": 2.5796310901641846
144
+ },
145
+ {
146
+ "frame": 8,
147
+ "take": 4,
148
+ "manipulation_level": 1,
149
+ "active_joints": [
150
+ 0
151
+ ],
152
+ "joint_positions": [
153
+ 0.23665481805801392
154
+ ],
155
+ "cam_pose": [
156
+ -2.505601644515991,
157
+ 0.007201503496617079,
158
+ 0.6135194897651672
159
+ ],
160
+ "cam_distance": 2.5796310901641846
161
+ },
162
+ {
163
+ "frame": 9,
164
+ "take": 4,
165
+ "manipulation_level": 1,
166
+ "active_joints": [
167
+ 0
168
+ ],
169
+ "joint_positions": [
170
+ 0.26623666286468506
171
+ ],
172
+ "cam_pose": [
173
+ -2.505601644515991,
174
+ 0.007201503496617079,
175
+ 0.6135194897651672
176
+ ],
177
+ "cam_distance": 2.5796310901641846
178
+ },
179
+ {
180
+ "frame": 10,
181
+ "take": 4,
182
+ "manipulation_level": 1,
183
+ "active_joints": [
184
+ 0
185
+ ],
186
+ "joint_positions": [
187
+ 0.2958185076713562
188
+ ],
189
+ "cam_pose": [
190
+ -2.505601644515991,
191
+ 0.007201503496617079,
192
+ 0.6135194897651672
193
+ ],
194
+ "cam_distance": 2.5796310901641846
195
+ },
196
+ {
197
+ "frame": 11,
198
+ "take": 4,
199
+ "manipulation_level": 1,
200
+ "active_joints": [
201
+ 0
202
+ ],
203
+ "joint_positions": [
204
+ 0.32540038228034973
205
+ ],
206
+ "cam_pose": [
207
+ -2.505601644515991,
208
+ 0.007201503496617079,
209
+ 0.6135194897651672
210
+ ],
211
+ "cam_distance": 2.5796310901641846
212
+ },
213
+ {
214
+ "frame": 12,
215
+ "take": 4,
216
+ "manipulation_level": 1,
217
+ "active_joints": [
218
+ 0
219
+ ],
220
+ "joint_positions": [
221
+ 0.3549822270870209
222
+ ],
223
+ "cam_pose": [
224
+ -2.505601644515991,
225
+ 0.007201503496617079,
226
+ 0.6135194897651672
227
+ ],
228
+ "cam_distance": 2.5796310901641846
229
+ },
230
+ {
231
+ "frame": 13,
232
+ "take": 4,
233
+ "manipulation_level": 1,
234
+ "active_joints": [
235
+ 0
236
+ ],
237
+ "joint_positions": [
238
+ 0.384564071893692
239
+ ],
240
+ "cam_pose": [
241
+ -2.505601644515991,
242
+ 0.007201503496617079,
243
+ 0.6135194897651672
244
+ ],
245
+ "cam_distance": 2.5796310901641846
246
+ },
247
+ {
248
+ "frame": 14,
249
+ "take": 4,
250
+ "manipulation_level": 1,
251
+ "active_joints": [
252
+ 0
253
+ ],
254
+ "joint_positions": [
255
+ 0.41414591670036316
256
+ ],
257
+ "cam_pose": [
258
+ -2.505601644515991,
259
+ 0.007201503496617079,
260
+ 0.6135194897651672
261
+ ],
262
+ "cam_distance": 2.5796310901641846
263
+ },
264
+ {
265
+ "frame": 15,
266
+ "take": 4,
267
+ "manipulation_level": 1,
268
+ "active_joints": [
269
+ 0
270
+ ],
271
+ "joint_positions": [
272
+ 0.4437277615070343
273
+ ],
274
+ "cam_pose": [
275
+ -2.505601644515991,
276
+ 0.007201503496617079,
277
+ 0.6135194897651672
278
+ ],
279
+ "cam_distance": 2.5796310901641846
280
+ },
281
+ {
282
+ "frame": 16,
283
+ "take": 4,
284
+ "manipulation_level": 1,
285
+ "active_joints": [
286
+ 0
287
+ ],
288
+ "joint_positions": [
289
+ 0.47330963611602783
290
+ ],
291
+ "cam_pose": [
292
+ -2.505601644515991,
293
+ 0.007201503496617079,
294
+ 0.6135194897651672
295
+ ],
296
+ "cam_distance": 2.5796310901641846
297
+ },
298
+ {
299
+ "frame": 17,
300
+ "take": 4,
301
+ "manipulation_level": 1,
302
+ "active_joints": [
303
+ 0
304
+ ],
305
+ "joint_positions": [
306
+ 0.502891480922699
307
+ ],
308
+ "cam_pose": [
309
+ -2.505601644515991,
310
+ 0.007201503496617079,
311
+ 0.6135194897651672
312
+ ],
313
+ "cam_distance": 2.5796310901641846
314
+ },
315
+ {
316
+ "frame": 18,
317
+ "take": 4,
318
+ "manipulation_level": 1,
319
+ "active_joints": [
320
+ 0
321
+ ],
322
+ "joint_positions": [
323
+ 0.5324733257293701
324
+ ],
325
+ "cam_pose": [
326
+ -2.505601644515991,
327
+ 0.007201503496617079,
328
+ 0.6135194897651672
329
+ ],
330
+ "cam_distance": 2.5796310901641846
331
+ },
332
+ {
333
+ "frame": 19,
334
+ "take": 4,
335
+ "manipulation_level": 1,
336
+ "active_joints": [
337
+ 0
338
+ ],
339
+ "joint_positions": [
340
+ 0.5620551705360413
341
+ ],
342
+ "cam_pose": [
343
+ -2.505601644515991,
344
+ 0.007201503496617079,
345
+ 0.6135194897651672
346
+ ],
347
+ "cam_distance": 2.5796310901641846
348
+ },
349
+ {
350
+ "frame": 20,
351
+ "take": 4,
352
+ "manipulation_level": 1,
353
+ "active_joints": [
354
+ 0
355
+ ],
356
+ "joint_positions": [
357
+ 0.5916370153427124
358
+ ],
359
+ "cam_pose": [
360
+ -2.505601644515991,
361
+ 0.007201503496617079,
362
+ 0.6135194897651672
363
+ ],
364
+ "cam_distance": 2.5796310901641846
365
+ },
366
+ {
367
+ "frame": 21,
368
+ "take": 4,
369
+ "manipulation_level": 1,
370
+ "active_joints": [
371
+ 0
372
+ ],
373
+ "joint_positions": [
374
+ 0.6212188601493835
375
+ ],
376
+ "cam_pose": [
377
+ -2.505601644515991,
378
+ 0.007201503496617079,
379
+ 0.6135194897651672
380
+ ],
381
+ "cam_distance": 2.5796310901641846
382
+ },
383
+ {
384
+ "frame": 22,
385
+ "take": 4,
386
+ "manipulation_level": 1,
387
+ "active_joints": [
388
+ 0
389
+ ],
390
+ "joint_positions": [
391
+ 0.6508007645606995
392
+ ],
393
+ "cam_pose": [
394
+ -2.505601644515991,
395
+ 0.007201503496617079,
396
+ 0.6135194897651672
397
+ ],
398
+ "cam_distance": 2.5796310901641846
399
+ },
400
+ {
401
+ "frame": 23,
402
+ "take": 4,
403
+ "manipulation_level": 1,
404
+ "active_joints": [
405
+ 0
406
+ ],
407
+ "joint_positions": [
408
+ 0.6803826093673706
409
+ ],
410
+ "cam_pose": [
411
+ -2.505601644515991,
412
+ 0.007201503496617079,
413
+ 0.6135194897651672
414
+ ],
415
+ "cam_distance": 2.5796310901641846
416
+ },
417
+ {
418
+ "frame": 24,
419
+ "take": 4,
420
+ "manipulation_level": 1,
421
+ "active_joints": [
422
+ 0
423
+ ],
424
+ "joint_positions": [
425
+ 0.7099644541740417
426
+ ],
427
+ "cam_pose": [
428
+ -2.505601644515991,
429
+ 0.007201503496617079,
430
+ 0.6135194897651672
431
+ ],
432
+ "cam_distance": 2.5796310901641846
433
+ },
434
+ {
435
+ "frame": 25,
436
+ "take": 4,
437
+ "manipulation_level": 1,
438
+ "active_joints": [
439
+ 0
440
+ ],
441
+ "joint_positions": [
442
+ 0.7395462989807129
443
+ ],
444
+ "cam_pose": [
445
+ -2.505601644515991,
446
+ 0.007201503496617079,
447
+ 0.6135194897651672
448
+ ],
449
+ "cam_distance": 2.5796310901641846
450
+ },
451
+ {
452
+ "frame": 26,
453
+ "take": 4,
454
+ "manipulation_level": 1,
455
+ "active_joints": [
456
+ 0
457
+ ],
458
+ "joint_positions": [
459
+ 0.769128143787384
460
+ ],
461
+ "cam_pose": [
462
+ -2.505601644515991,
463
+ 0.007201503496617079,
464
+ 0.6135194897651672
465
+ ],
466
+ "cam_distance": 2.5796310901641846
467
+ },
468
+ {
469
+ "frame": 27,
470
+ "take": 4,
471
+ "manipulation_level": 1,
472
+ "active_joints": [
473
+ 0
474
+ ],
475
+ "joint_positions": [
476
+ 0.7987099885940552
477
+ ],
478
+ "cam_pose": [
479
+ -2.505601644515991,
480
+ 0.007201503496617079,
481
+ 0.6135194897651672
482
+ ],
483
+ "cam_distance": 2.5796310901641846
484
+ },
485
+ {
486
+ "frame": 28,
487
+ "take": 4,
488
+ "manipulation_level": 1,
489
+ "active_joints": [
490
+ 0
491
+ ],
492
+ "joint_positions": [
493
+ 0.8282918334007263
494
+ ],
495
+ "cam_pose": [
496
+ -2.505601644515991,
497
+ 0.007201503496617079,
498
+ 0.6135194897651672
499
+ ],
500
+ "cam_distance": 2.5796310901641846
501
+ },
502
+ {
503
+ "frame": 29,
504
+ "take": 4,
505
+ "manipulation_level": 1,
506
+ "active_joints": [
507
+ 0
508
+ ],
509
+ "joint_positions": [
510
+ 0.8578736782073975
511
+ ],
512
+ "cam_pose": [
513
+ -2.505601644515991,
514
+ 0.007201503496617079,
515
+ 0.6135194897651672
516
+ ],
517
+ "cam_distance": 2.5796310901641846
518
+ },
519
+ {
520
+ "frame": 30,
521
+ "take": 4,
522
+ "manipulation_level": 1,
523
+ "active_joints": [
524
+ 0
525
+ ],
526
+ "joint_positions": [
527
+ 0.8874555230140686
528
+ ],
529
+ "cam_pose": [
530
+ -2.505601644515991,
531
+ 0.007201503496617079,
532
+ 0.6135194897651672
533
+ ],
534
+ "cam_distance": 2.5796310901641846
535
+ },
536
+ {
537
+ "frame": 31,
538
+ "take": 4,
539
+ "manipulation_level": 1,
540
+ "active_joints": [
541
+ 0
542
+ ],
543
+ "joint_positions": [
544
+ 0.9170374274253845
545
+ ],
546
+ "cam_pose": [
547
+ -2.505601644515991,
548
+ 0.007201503496617079,
549
+ 0.6135194897651672
550
+ ],
551
+ "cam_distance": 2.5796310901641846
552
+ },
553
+ {
554
+ "frame": 32,
555
+ "take": 4,
556
+ "manipulation_level": 1,
557
+ "active_joints": [
558
+ 0
559
+ ],
560
+ "joint_positions": [
561
+ 0.9466192722320557
562
+ ],
563
+ "cam_pose": [
564
+ -2.505601644515991,
565
+ 0.007201503496617079,
566
+ 0.6135194897651672
567
+ ],
568
+ "cam_distance": 2.5796310901641846
569
+ },
570
+ {
571
+ "frame": 33,
572
+ "take": 4,
573
+ "manipulation_level": 1,
574
+ "active_joints": [
575
+ 0
576
+ ],
577
+ "joint_positions": [
578
+ 0.9762011170387268
579
+ ],
580
+ "cam_pose": [
581
+ -2.505601644515991,
582
+ 0.007201503496617079,
583
+ 0.6135194897651672
584
+ ],
585
+ "cam_distance": 2.5796310901641846
586
+ },
587
+ {
588
+ "frame": 34,
589
+ "take": 4,
590
+ "manipulation_level": 1,
591
+ "active_joints": [
592
+ 0
593
+ ],
594
+ "joint_positions": [
595
+ 1.005782961845398
596
+ ],
597
+ "cam_pose": [
598
+ -2.505601644515991,
599
+ 0.007201503496617079,
600
+ 0.6135194897651672
601
+ ],
602
+ "cam_distance": 2.5796310901641846
603
+ },
604
+ {
605
+ "frame": 35,
606
+ "take": 4,
607
+ "manipulation_level": 1,
608
+ "active_joints": [
609
+ 0
610
+ ],
611
+ "joint_positions": [
612
+ 1.0353648662567139
613
+ ],
614
+ "cam_pose": [
615
+ -2.505601644515991,
616
+ 0.007201503496617079,
617
+ 0.6135194897651672
618
+ ],
619
+ "cam_distance": 2.5796310901641846
620
+ },
621
+ {
622
+ "frame": 36,
623
+ "take": 4,
624
+ "manipulation_level": 1,
625
+ "active_joints": [
626
+ 0
627
+ ],
628
+ "joint_positions": [
629
+ 1.0649466514587402
630
+ ],
631
+ "cam_pose": [
632
+ -2.505601644515991,
633
+ 0.007201503496617079,
634
+ 0.6135194897651672
635
+ ],
636
+ "cam_distance": 2.5796310901641846
637
+ },
638
+ {
639
+ "frame": 37,
640
+ "take": 4,
641
+ "manipulation_level": 1,
642
+ "active_joints": [
643
+ 0
644
+ ],
645
+ "joint_positions": [
646
+ 1.0945285558700562
647
+ ],
648
+ "cam_pose": [
649
+ -2.505601644515991,
650
+ 0.007201503496617079,
651
+ 0.6135194897651672
652
+ ],
653
+ "cam_distance": 2.5796310901641846
654
+ },
655
+ {
656
+ "frame": 38,
657
+ "take": 4,
658
+ "manipulation_level": 1,
659
+ "active_joints": [
660
+ 0
661
+ ],
662
+ "joint_positions": [
663
+ 1.1241103410720825
664
+ ],
665
+ "cam_pose": [
666
+ -2.505601644515991,
667
+ 0.007201503496617079,
668
+ 0.6135194897651672
669
+ ],
670
+ "cam_distance": 2.5796310901641846
671
+ },
672
+ {
673
+ "frame": 39,
674
+ "take": 4,
675
+ "manipulation_level": 1,
676
+ "active_joints": [
677
+ 0
678
+ ],
679
+ "joint_positions": [
680
+ 1.1536922454833984
681
+ ],
682
+ "cam_pose": [
683
+ -2.505601644515991,
684
+ 0.007201503496617079,
685
+ 0.6135194897651672
686
+ ],
687
+ "cam_distance": 2.5796310901641846
688
+ },
689
+ {
690
+ "frame": 40,
691
+ "take": 4,
692
+ "manipulation_level": 1,
693
+ "active_joints": [
694
+ 0
695
+ ],
696
+ "joint_positions": [
697
+ 1.1832740306854248
698
+ ],
699
+ "cam_pose": [
700
+ -2.505601644515991,
701
+ 0.007201503496617079,
702
+ 0.6135194897651672
703
+ ],
704
+ "cam_distance": 2.5796310901641846
705
+ },
706
+ {
707
+ "frame": 41,
708
+ "take": 4,
709
+ "manipulation_level": 1,
710
+ "active_joints": [
711
+ 0
712
+ ],
713
+ "joint_positions": [
714
+ 1.2128559350967407
715
+ ],
716
+ "cam_pose": [
717
+ -2.505601644515991,
718
+ 0.007201503496617079,
719
+ 0.6135194897651672
720
+ ],
721
+ "cam_distance": 2.5796310901641846
722
+ },
723
+ {
724
+ "frame": 42,
725
+ "take": 4,
726
+ "manipulation_level": 1,
727
+ "active_joints": [
728
+ 0
729
+ ],
730
+ "joint_positions": [
731
+ 1.242437720298767
732
+ ],
733
+ "cam_pose": [
734
+ -2.505601644515991,
735
+ 0.007201503496617079,
736
+ 0.6135194897651672
737
+ ],
738
+ "cam_distance": 2.5796310901641846
739
+ },
740
+ {
741
+ "frame": 43,
742
+ "take": 4,
743
+ "manipulation_level": 1,
744
+ "active_joints": [
745
+ 0
746
+ ],
747
+ "joint_positions": [
748
+ 1.272019624710083
749
+ ],
750
+ "cam_pose": [
751
+ -2.505601644515991,
752
+ 0.007201503496617079,
753
+ 0.6135194897651672
754
+ ],
755
+ "cam_distance": 2.5796310901641846
756
+ },
757
+ {
758
+ "frame": 44,
759
+ "take": 4,
760
+ "manipulation_level": 1,
761
+ "active_joints": [
762
+ 0
763
+ ],
764
+ "joint_positions": [
765
+ 1.301601529121399
766
+ ],
767
+ "cam_pose": [
768
+ -2.505601644515991,
769
+ 0.007201503496617079,
770
+ 0.6135194897651672
771
+ ],
772
+ "cam_distance": 2.5796310901641846
773
+ },
774
+ {
775
+ "frame": 45,
776
+ "take": 4,
777
+ "manipulation_level": 1,
778
+ "active_joints": [
779
+ 0
780
+ ],
781
+ "joint_positions": [
782
+ 1.3311833143234253
783
+ ],
784
+ "cam_pose": [
785
+ -2.505601644515991,
786
+ 0.007201503496617079,
787
+ 0.6135194897651672
788
+ ],
789
+ "cam_distance": 2.5796310901641846
790
+ },
791
+ {
792
+ "frame": 46,
793
+ "take": 4,
794
+ "manipulation_level": 1,
795
+ "active_joints": [
796
+ 0
797
+ ],
798
+ "joint_positions": [
799
+ 1.3607652187347412
800
+ ],
801
+ "cam_pose": [
802
+ -2.505601644515991,
803
+ 0.007201503496617079,
804
+ 0.6135194897651672
805
+ ],
806
+ "cam_distance": 2.5796310901641846
807
+ },
808
+ {
809
+ "frame": 47,
810
+ "take": 4,
811
+ "manipulation_level": 1,
812
+ "active_joints": [
813
+ 0
814
+ ],
815
+ "joint_positions": [
816
+ 1.3903470039367676
817
+ ],
818
+ "cam_pose": [
819
+ -2.505601644515991,
820
+ 0.007201503496617079,
821
+ 0.6135194897651672
822
+ ],
823
+ "cam_distance": 2.5796310901641846
824
+ },
825
+ {
826
+ "frame": 48,
827
+ "take": 4,
828
+ "manipulation_level": 1,
829
+ "active_joints": [
830
+ 0
831
+ ],
832
+ "joint_positions": [
833
+ 1.4199289083480835
834
+ ],
835
+ "cam_pose": [
836
+ -2.505601644515991,
837
+ 0.007201503496617079,
838
+ 0.6135194897651672
839
+ ],
840
+ "cam_distance": 2.5796310901641846
841
+ },
842
+ {
843
+ "frame": 49,
844
+ "take": 4,
845
+ "manipulation_level": 1,
846
+ "active_joints": [
847
+ 0
848
+ ],
849
+ "joint_positions": [
850
+ 1.4495106935501099
851
+ ],
852
+ "cam_pose": [
853
+ -2.505601644515991,
854
+ 0.007201503496617079,
855
+ 0.6135194897651672
856
+ ],
857
+ "cam_distance": 2.5796310901641846
858
+ },
859
+ {
860
+ "frame": 50,
861
+ "take": 4,
862
+ "manipulation_level": 1,
863
+ "active_joints": [
864
+ 0
865
+ ],
866
+ "joint_positions": [
867
+ 1.4790925979614258
868
+ ],
869
+ "cam_pose": [
870
+ -2.505601644515991,
871
+ 0.007201503496617079,
872
+ 0.6135194897651672
873
+ ],
874
+ "cam_distance": 2.5796310901641846
875
+ },
876
+ {
877
+ "frame": 51,
878
+ "take": 4,
879
+ "manipulation_level": 1,
880
+ "active_joints": [
881
+ 0
882
+ ],
883
+ "joint_positions": [
884
+ 1.5086743831634521
885
+ ],
886
+ "cam_pose": [
887
+ -2.505601644515991,
888
+ 0.007201503496617079,
889
+ 0.6135194897651672
890
+ ],
891
+ "cam_distance": 2.5796310901641846
892
+ },
893
+ {
894
+ "frame": 52,
895
+ "take": 4,
896
+ "manipulation_level": 1,
897
+ "active_joints": [
898
+ 0
899
+ ],
900
+ "joint_positions": [
901
+ 1.538256287574768
902
+ ],
903
+ "cam_pose": [
904
+ -2.505601644515991,
905
+ 0.007201503496617079,
906
+ 0.6135194897651672
907
+ ],
908
+ "cam_distance": 2.5796310901641846
909
+ },
910
+ {
911
+ "frame": 53,
912
+ "take": 4,
913
+ "manipulation_level": 1,
914
+ "active_joints": [
915
+ 0
916
+ ],
917
+ "joint_positions": [
918
+ 1.567838191986084
919
+ ],
920
+ "cam_pose": [
921
+ -2.505601644515991,
922
+ 0.007201503496617079,
923
+ 0.6135194897651672
924
+ ],
925
+ "cam_distance": 2.5796310901641846
926
+ },
927
+ {
928
+ "frame": 54,
929
+ "take": 4,
930
+ "manipulation_level": 1,
931
+ "active_joints": [
932
+ 0
933
+ ],
934
+ "joint_positions": [
935
+ 1.5974199771881104
936
+ ],
937
+ "cam_pose": [
938
+ -2.505601644515991,
939
+ 0.007201503496617079,
940
+ 0.6135194897651672
941
+ ],
942
+ "cam_distance": 2.5796310901641846
943
+ },
944
+ {
945
+ "frame": 55,
946
+ "take": 4,
947
+ "manipulation_level": 1,
948
+ "active_joints": [
949
+ 0
950
+ ],
951
+ "joint_positions": [
952
+ 1.6270018815994263
953
+ ],
954
+ "cam_pose": [
955
+ -2.505601644515991,
956
+ 0.007201503496617079,
957
+ 0.6135194897651672
958
+ ],
959
+ "cam_distance": 2.5796310901641846
960
+ },
961
+ {
962
+ "frame": 56,
963
+ "take": 4,
964
+ "manipulation_level": 1,
965
+ "active_joints": [
966
+ 0
967
+ ],
968
+ "joint_positions": [
969
+ 1.6565836668014526
970
+ ],
971
+ "cam_pose": [
972
+ -2.505601644515991,
973
+ 0.007201503496617079,
974
+ 0.6135194897651672
975
+ ],
976
+ "cam_distance": 2.5796310901641846
977
+ },
978
+ {
979
+ "frame": 57,
980
+ "take": 4,
981
+ "manipulation_level": 1,
982
+ "active_joints": [
983
+ 0
984
+ ],
985
+ "joint_positions": [
986
+ 1.6861655712127686
987
+ ],
988
+ "cam_pose": [
989
+ -2.505601644515991,
990
+ 0.007201503496617079,
991
+ 0.6135194897651672
992
+ ],
993
+ "cam_distance": 2.5796310901641846
994
+ },
995
+ {
996
+ "frame": 58,
997
+ "take": 4,
998
+ "manipulation_level": 1,
999
+ "active_joints": [
1000
+ 0
1001
+ ],
1002
+ "joint_positions": [
1003
+ 1.715747356414795
1004
+ ],
1005
+ "cam_pose": [
1006
+ -2.505601644515991,
1007
+ 0.007201503496617079,
1008
+ 0.6135194897651672
1009
+ ],
1010
+ "cam_distance": 2.5796310901641846
1011
+ },
1012
+ {
1013
+ "frame": 59,
1014
+ "take": 4,
1015
+ "manipulation_level": 1,
1016
+ "active_joints": [
1017
+ 0
1018
+ ],
1019
+ "joint_positions": [
1020
+ 1.7453292608261108
1021
+ ],
1022
+ "cam_pose": [
1023
+ -2.505601644515991,
1024
+ 0.007201503496617079,
1025
+ 0.6135194897651672
1026
+ ],
1027
+ "cam_distance": 2.5796310901641846
1028
+ }
1029
+ ]
1030
+ }
manipulation_1/38516/take_05/metadata.json ADDED
@@ -0,0 +1,1030 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object_id": "38516",
3
+ "manipulation_level": 1,
4
+ "active_joints": [
5
+ 0
6
+ ],
7
+ "total_joints": 1,
8
+ "frames": [
9
+ {
10
+ "frame": 0,
11
+ "take": 5,
12
+ "manipulation_level": 1,
13
+ "active_joints": [
14
+ 0
15
+ ],
16
+ "joint_positions": [
17
+ 0.0
18
+ ],
19
+ "cam_pose": [
20
+ -2.573796272277832,
21
+ -0.011541789397597313,
22
+ 0.9298583269119263
23
+ ],
24
+ "cam_distance": 2.7366394996643066
25
+ },
26
+ {
27
+ "frame": 1,
28
+ "take": 5,
29
+ "manipulation_level": 1,
30
+ "active_joints": [
31
+ 0
32
+ ],
33
+ "joint_positions": [
34
+ 0.02958185225725174
35
+ ],
36
+ "cam_pose": [
37
+ -2.573796272277832,
38
+ -0.011541789397597313,
39
+ 0.9298583269119263
40
+ ],
41
+ "cam_distance": 2.7366394996643066
42
+ },
43
+ {
44
+ "frame": 2,
45
+ "take": 5,
46
+ "manipulation_level": 1,
47
+ "active_joints": [
48
+ 0
49
+ ],
50
+ "joint_positions": [
51
+ 0.05916370451450348
52
+ ],
53
+ "cam_pose": [
54
+ -2.573796272277832,
55
+ -0.011541789397597313,
56
+ 0.9298583269119263
57
+ ],
58
+ "cam_distance": 2.7366394996643066
59
+ },
60
+ {
61
+ "frame": 3,
62
+ "take": 5,
63
+ "manipulation_level": 1,
64
+ "active_joints": [
65
+ 0
66
+ ],
67
+ "joint_positions": [
68
+ 0.08874555677175522
69
+ ],
70
+ "cam_pose": [
71
+ -2.573796272277832,
72
+ -0.011541789397597313,
73
+ 0.9298583269119263
74
+ ],
75
+ "cam_distance": 2.7366394996643066
76
+ },
77
+ {
78
+ "frame": 4,
79
+ "take": 5,
80
+ "manipulation_level": 1,
81
+ "active_joints": [
82
+ 0
83
+ ],
84
+ "joint_positions": [
85
+ 0.11832740902900696
86
+ ],
87
+ "cam_pose": [
88
+ -2.573796272277832,
89
+ -0.011541789397597313,
90
+ 0.9298583269119263
91
+ ],
92
+ "cam_distance": 2.7366394996643066
93
+ },
94
+ {
95
+ "frame": 5,
96
+ "take": 5,
97
+ "manipulation_level": 1,
98
+ "active_joints": [
99
+ 0
100
+ ],
101
+ "joint_positions": [
102
+ 0.1479092538356781
103
+ ],
104
+ "cam_pose": [
105
+ -2.573796272277832,
106
+ -0.011541789397597313,
107
+ 0.9298583269119263
108
+ ],
109
+ "cam_distance": 2.7366394996643066
110
+ },
111
+ {
112
+ "frame": 6,
113
+ "take": 5,
114
+ "manipulation_level": 1,
115
+ "active_joints": [
116
+ 0
117
+ ],
118
+ "joint_positions": [
119
+ 0.17749111354351044
120
+ ],
121
+ "cam_pose": [
122
+ -2.573796272277832,
123
+ -0.011541789397597313,
124
+ 0.9298583269119263
125
+ ],
126
+ "cam_distance": 2.7366394996643066
127
+ },
128
+ {
129
+ "frame": 7,
130
+ "take": 5,
131
+ "manipulation_level": 1,
132
+ "active_joints": [
133
+ 0
134
+ ],
135
+ "joint_positions": [
136
+ 0.20707295835018158
137
+ ],
138
+ "cam_pose": [
139
+ -2.573796272277832,
140
+ -0.011541789397597313,
141
+ 0.9298583269119263
142
+ ],
143
+ "cam_distance": 2.7366394996643066
144
+ },
145
+ {
146
+ "frame": 8,
147
+ "take": 5,
148
+ "manipulation_level": 1,
149
+ "active_joints": [
150
+ 0
151
+ ],
152
+ "joint_positions": [
153
+ 0.23665481805801392
154
+ ],
155
+ "cam_pose": [
156
+ -2.573796272277832,
157
+ -0.011541789397597313,
158
+ 0.9298583269119263
159
+ ],
160
+ "cam_distance": 2.7366394996643066
161
+ },
162
+ {
163
+ "frame": 9,
164
+ "take": 5,
165
+ "manipulation_level": 1,
166
+ "active_joints": [
167
+ 0
168
+ ],
169
+ "joint_positions": [
170
+ 0.26623666286468506
171
+ ],
172
+ "cam_pose": [
173
+ -2.573796272277832,
174
+ -0.011541789397597313,
175
+ 0.9298583269119263
176
+ ],
177
+ "cam_distance": 2.7366394996643066
178
+ },
179
+ {
180
+ "frame": 10,
181
+ "take": 5,
182
+ "manipulation_level": 1,
183
+ "active_joints": [
184
+ 0
185
+ ],
186
+ "joint_positions": [
187
+ 0.2958185076713562
188
+ ],
189
+ "cam_pose": [
190
+ -2.573796272277832,
191
+ -0.011541789397597313,
192
+ 0.9298583269119263
193
+ ],
194
+ "cam_distance": 2.7366394996643066
195
+ },
196
+ {
197
+ "frame": 11,
198
+ "take": 5,
199
+ "manipulation_level": 1,
200
+ "active_joints": [
201
+ 0
202
+ ],
203
+ "joint_positions": [
204
+ 0.32540038228034973
205
+ ],
206
+ "cam_pose": [
207
+ -2.573796272277832,
208
+ -0.011541789397597313,
209
+ 0.9298583269119263
210
+ ],
211
+ "cam_distance": 2.7366394996643066
212
+ },
213
+ {
214
+ "frame": 12,
215
+ "take": 5,
216
+ "manipulation_level": 1,
217
+ "active_joints": [
218
+ 0
219
+ ],
220
+ "joint_positions": [
221
+ 0.3549822270870209
222
+ ],
223
+ "cam_pose": [
224
+ -2.573796272277832,
225
+ -0.011541789397597313,
226
+ 0.9298583269119263
227
+ ],
228
+ "cam_distance": 2.7366394996643066
229
+ },
230
+ {
231
+ "frame": 13,
232
+ "take": 5,
233
+ "manipulation_level": 1,
234
+ "active_joints": [
235
+ 0
236
+ ],
237
+ "joint_positions": [
238
+ 0.384564071893692
239
+ ],
240
+ "cam_pose": [
241
+ -2.573796272277832,
242
+ -0.011541789397597313,
243
+ 0.9298583269119263
244
+ ],
245
+ "cam_distance": 2.7366394996643066
246
+ },
247
+ {
248
+ "frame": 14,
249
+ "take": 5,
250
+ "manipulation_level": 1,
251
+ "active_joints": [
252
+ 0
253
+ ],
254
+ "joint_positions": [
255
+ 0.41414591670036316
256
+ ],
257
+ "cam_pose": [
258
+ -2.573796272277832,
259
+ -0.011541789397597313,
260
+ 0.9298583269119263
261
+ ],
262
+ "cam_distance": 2.7366394996643066
263
+ },
264
+ {
265
+ "frame": 15,
266
+ "take": 5,
267
+ "manipulation_level": 1,
268
+ "active_joints": [
269
+ 0
270
+ ],
271
+ "joint_positions": [
272
+ 0.4437277615070343
273
+ ],
274
+ "cam_pose": [
275
+ -2.573796272277832,
276
+ -0.011541789397597313,
277
+ 0.9298583269119263
278
+ ],
279
+ "cam_distance": 2.7366394996643066
280
+ },
281
+ {
282
+ "frame": 16,
283
+ "take": 5,
284
+ "manipulation_level": 1,
285
+ "active_joints": [
286
+ 0
287
+ ],
288
+ "joint_positions": [
289
+ 0.47330963611602783
290
+ ],
291
+ "cam_pose": [
292
+ -2.573796272277832,
293
+ -0.011541789397597313,
294
+ 0.9298583269119263
295
+ ],
296
+ "cam_distance": 2.7366394996643066
297
+ },
298
+ {
299
+ "frame": 17,
300
+ "take": 5,
301
+ "manipulation_level": 1,
302
+ "active_joints": [
303
+ 0
304
+ ],
305
+ "joint_positions": [
306
+ 0.502891480922699
307
+ ],
308
+ "cam_pose": [
309
+ -2.573796272277832,
310
+ -0.011541789397597313,
311
+ 0.9298583269119263
312
+ ],
313
+ "cam_distance": 2.7366394996643066
314
+ },
315
+ {
316
+ "frame": 18,
317
+ "take": 5,
318
+ "manipulation_level": 1,
319
+ "active_joints": [
320
+ 0
321
+ ],
322
+ "joint_positions": [
323
+ 0.5324733257293701
324
+ ],
325
+ "cam_pose": [
326
+ -2.573796272277832,
327
+ -0.011541789397597313,
328
+ 0.9298583269119263
329
+ ],
330
+ "cam_distance": 2.7366394996643066
331
+ },
332
+ {
333
+ "frame": 19,
334
+ "take": 5,
335
+ "manipulation_level": 1,
336
+ "active_joints": [
337
+ 0
338
+ ],
339
+ "joint_positions": [
340
+ 0.5620551705360413
341
+ ],
342
+ "cam_pose": [
343
+ -2.573796272277832,
344
+ -0.011541789397597313,
345
+ 0.9298583269119263
346
+ ],
347
+ "cam_distance": 2.7366394996643066
348
+ },
349
+ {
350
+ "frame": 20,
351
+ "take": 5,
352
+ "manipulation_level": 1,
353
+ "active_joints": [
354
+ 0
355
+ ],
356
+ "joint_positions": [
357
+ 0.5916370153427124
358
+ ],
359
+ "cam_pose": [
360
+ -2.573796272277832,
361
+ -0.011541789397597313,
362
+ 0.9298583269119263
363
+ ],
364
+ "cam_distance": 2.7366394996643066
365
+ },
366
+ {
367
+ "frame": 21,
368
+ "take": 5,
369
+ "manipulation_level": 1,
370
+ "active_joints": [
371
+ 0
372
+ ],
373
+ "joint_positions": [
374
+ 0.6212188601493835
375
+ ],
376
+ "cam_pose": [
377
+ -2.573796272277832,
378
+ -0.011541789397597313,
379
+ 0.9298583269119263
380
+ ],
381
+ "cam_distance": 2.7366394996643066
382
+ },
383
+ {
384
+ "frame": 22,
385
+ "take": 5,
386
+ "manipulation_level": 1,
387
+ "active_joints": [
388
+ 0
389
+ ],
390
+ "joint_positions": [
391
+ 0.6508007645606995
392
+ ],
393
+ "cam_pose": [
394
+ -2.573796272277832,
395
+ -0.011541789397597313,
396
+ 0.9298583269119263
397
+ ],
398
+ "cam_distance": 2.7366394996643066
399
+ },
400
+ {
401
+ "frame": 23,
402
+ "take": 5,
403
+ "manipulation_level": 1,
404
+ "active_joints": [
405
+ 0
406
+ ],
407
+ "joint_positions": [
408
+ 0.6803826093673706
409
+ ],
410
+ "cam_pose": [
411
+ -2.573796272277832,
412
+ -0.011541789397597313,
413
+ 0.9298583269119263
414
+ ],
415
+ "cam_distance": 2.7366394996643066
416
+ },
417
+ {
418
+ "frame": 24,
419
+ "take": 5,
420
+ "manipulation_level": 1,
421
+ "active_joints": [
422
+ 0
423
+ ],
424
+ "joint_positions": [
425
+ 0.7099644541740417
426
+ ],
427
+ "cam_pose": [
428
+ -2.573796272277832,
429
+ -0.011541789397597313,
430
+ 0.9298583269119263
431
+ ],
432
+ "cam_distance": 2.7366394996643066
433
+ },
434
+ {
435
+ "frame": 25,
436
+ "take": 5,
437
+ "manipulation_level": 1,
438
+ "active_joints": [
439
+ 0
440
+ ],
441
+ "joint_positions": [
442
+ 0.7395462989807129
443
+ ],
444
+ "cam_pose": [
445
+ -2.573796272277832,
446
+ -0.011541789397597313,
447
+ 0.9298583269119263
448
+ ],
449
+ "cam_distance": 2.7366394996643066
450
+ },
451
+ {
452
+ "frame": 26,
453
+ "take": 5,
454
+ "manipulation_level": 1,
455
+ "active_joints": [
456
+ 0
457
+ ],
458
+ "joint_positions": [
459
+ 0.769128143787384
460
+ ],
461
+ "cam_pose": [
462
+ -2.573796272277832,
463
+ -0.011541789397597313,
464
+ 0.9298583269119263
465
+ ],
466
+ "cam_distance": 2.7366394996643066
467
+ },
468
+ {
469
+ "frame": 27,
470
+ "take": 5,
471
+ "manipulation_level": 1,
472
+ "active_joints": [
473
+ 0
474
+ ],
475
+ "joint_positions": [
476
+ 0.7987099885940552
477
+ ],
478
+ "cam_pose": [
479
+ -2.573796272277832,
480
+ -0.011541789397597313,
481
+ 0.9298583269119263
482
+ ],
483
+ "cam_distance": 2.7366394996643066
484
+ },
485
+ {
486
+ "frame": 28,
487
+ "take": 5,
488
+ "manipulation_level": 1,
489
+ "active_joints": [
490
+ 0
491
+ ],
492
+ "joint_positions": [
493
+ 0.8282918334007263
494
+ ],
495
+ "cam_pose": [
496
+ -2.573796272277832,
497
+ -0.011541789397597313,
498
+ 0.9298583269119263
499
+ ],
500
+ "cam_distance": 2.7366394996643066
501
+ },
502
+ {
503
+ "frame": 29,
504
+ "take": 5,
505
+ "manipulation_level": 1,
506
+ "active_joints": [
507
+ 0
508
+ ],
509
+ "joint_positions": [
510
+ 0.8578736782073975
511
+ ],
512
+ "cam_pose": [
513
+ -2.573796272277832,
514
+ -0.011541789397597313,
515
+ 0.9298583269119263
516
+ ],
517
+ "cam_distance": 2.7366394996643066
518
+ },
519
+ {
520
+ "frame": 30,
521
+ "take": 5,
522
+ "manipulation_level": 1,
523
+ "active_joints": [
524
+ 0
525
+ ],
526
+ "joint_positions": [
527
+ 0.8874555230140686
528
+ ],
529
+ "cam_pose": [
530
+ -2.573796272277832,
531
+ -0.011541789397597313,
532
+ 0.9298583269119263
533
+ ],
534
+ "cam_distance": 2.7366394996643066
535
+ },
536
+ {
537
+ "frame": 31,
538
+ "take": 5,
539
+ "manipulation_level": 1,
540
+ "active_joints": [
541
+ 0
542
+ ],
543
+ "joint_positions": [
544
+ 0.9170374274253845
545
+ ],
546
+ "cam_pose": [
547
+ -2.573796272277832,
548
+ -0.011541789397597313,
549
+ 0.9298583269119263
550
+ ],
551
+ "cam_distance": 2.7366394996643066
552
+ },
553
+ {
554
+ "frame": 32,
555
+ "take": 5,
556
+ "manipulation_level": 1,
557
+ "active_joints": [
558
+ 0
559
+ ],
560
+ "joint_positions": [
561
+ 0.9466192722320557
562
+ ],
563
+ "cam_pose": [
564
+ -2.573796272277832,
565
+ -0.011541789397597313,
566
+ 0.9298583269119263
567
+ ],
568
+ "cam_distance": 2.7366394996643066
569
+ },
570
+ {
571
+ "frame": 33,
572
+ "take": 5,
573
+ "manipulation_level": 1,
574
+ "active_joints": [
575
+ 0
576
+ ],
577
+ "joint_positions": [
578
+ 0.9762011170387268
579
+ ],
580
+ "cam_pose": [
581
+ -2.573796272277832,
582
+ -0.011541789397597313,
583
+ 0.9298583269119263
584
+ ],
585
+ "cam_distance": 2.7366394996643066
586
+ },
587
+ {
588
+ "frame": 34,
589
+ "take": 5,
590
+ "manipulation_level": 1,
591
+ "active_joints": [
592
+ 0
593
+ ],
594
+ "joint_positions": [
595
+ 1.005782961845398
596
+ ],
597
+ "cam_pose": [
598
+ -2.573796272277832,
599
+ -0.011541789397597313,
600
+ 0.9298583269119263
601
+ ],
602
+ "cam_distance": 2.7366394996643066
603
+ },
604
+ {
605
+ "frame": 35,
606
+ "take": 5,
607
+ "manipulation_level": 1,
608
+ "active_joints": [
609
+ 0
610
+ ],
611
+ "joint_positions": [
612
+ 1.0353648662567139
613
+ ],
614
+ "cam_pose": [
615
+ -2.573796272277832,
616
+ -0.011541789397597313,
617
+ 0.9298583269119263
618
+ ],
619
+ "cam_distance": 2.7366394996643066
620
+ },
621
+ {
622
+ "frame": 36,
623
+ "take": 5,
624
+ "manipulation_level": 1,
625
+ "active_joints": [
626
+ 0
627
+ ],
628
+ "joint_positions": [
629
+ 1.0649466514587402
630
+ ],
631
+ "cam_pose": [
632
+ -2.573796272277832,
633
+ -0.011541789397597313,
634
+ 0.9298583269119263
635
+ ],
636
+ "cam_distance": 2.7366394996643066
637
+ },
638
+ {
639
+ "frame": 37,
640
+ "take": 5,
641
+ "manipulation_level": 1,
642
+ "active_joints": [
643
+ 0
644
+ ],
645
+ "joint_positions": [
646
+ 1.0945285558700562
647
+ ],
648
+ "cam_pose": [
649
+ -2.573796272277832,
650
+ -0.011541789397597313,
651
+ 0.9298583269119263
652
+ ],
653
+ "cam_distance": 2.7366394996643066
654
+ },
655
+ {
656
+ "frame": 38,
657
+ "take": 5,
658
+ "manipulation_level": 1,
659
+ "active_joints": [
660
+ 0
661
+ ],
662
+ "joint_positions": [
663
+ 1.1241103410720825
664
+ ],
665
+ "cam_pose": [
666
+ -2.573796272277832,
667
+ -0.011541789397597313,
668
+ 0.9298583269119263
669
+ ],
670
+ "cam_distance": 2.7366394996643066
671
+ },
672
+ {
673
+ "frame": 39,
674
+ "take": 5,
675
+ "manipulation_level": 1,
676
+ "active_joints": [
677
+ 0
678
+ ],
679
+ "joint_positions": [
680
+ 1.1536922454833984
681
+ ],
682
+ "cam_pose": [
683
+ -2.573796272277832,
684
+ -0.011541789397597313,
685
+ 0.9298583269119263
686
+ ],
687
+ "cam_distance": 2.7366394996643066
688
+ },
689
+ {
690
+ "frame": 40,
691
+ "take": 5,
692
+ "manipulation_level": 1,
693
+ "active_joints": [
694
+ 0
695
+ ],
696
+ "joint_positions": [
697
+ 1.1832740306854248
698
+ ],
699
+ "cam_pose": [
700
+ -2.573796272277832,
701
+ -0.011541789397597313,
702
+ 0.9298583269119263
703
+ ],
704
+ "cam_distance": 2.7366394996643066
705
+ },
706
+ {
707
+ "frame": 41,
708
+ "take": 5,
709
+ "manipulation_level": 1,
710
+ "active_joints": [
711
+ 0
712
+ ],
713
+ "joint_positions": [
714
+ 1.2128559350967407
715
+ ],
716
+ "cam_pose": [
717
+ -2.573796272277832,
718
+ -0.011541789397597313,
719
+ 0.9298583269119263
720
+ ],
721
+ "cam_distance": 2.7366394996643066
722
+ },
723
+ {
724
+ "frame": 42,
725
+ "take": 5,
726
+ "manipulation_level": 1,
727
+ "active_joints": [
728
+ 0
729
+ ],
730
+ "joint_positions": [
731
+ 1.242437720298767
732
+ ],
733
+ "cam_pose": [
734
+ -2.573796272277832,
735
+ -0.011541789397597313,
736
+ 0.9298583269119263
737
+ ],
738
+ "cam_distance": 2.7366394996643066
739
+ },
740
+ {
741
+ "frame": 43,
742
+ "take": 5,
743
+ "manipulation_level": 1,
744
+ "active_joints": [
745
+ 0
746
+ ],
747
+ "joint_positions": [
748
+ 1.272019624710083
749
+ ],
750
+ "cam_pose": [
751
+ -2.573796272277832,
752
+ -0.011541789397597313,
753
+ 0.9298583269119263
754
+ ],
755
+ "cam_distance": 2.7366394996643066
756
+ },
757
+ {
758
+ "frame": 44,
759
+ "take": 5,
760
+ "manipulation_level": 1,
761
+ "active_joints": [
762
+ 0
763
+ ],
764
+ "joint_positions": [
765
+ 1.301601529121399
766
+ ],
767
+ "cam_pose": [
768
+ -2.573796272277832,
769
+ -0.011541789397597313,
770
+ 0.9298583269119263
771
+ ],
772
+ "cam_distance": 2.7366394996643066
773
+ },
774
+ {
775
+ "frame": 45,
776
+ "take": 5,
777
+ "manipulation_level": 1,
778
+ "active_joints": [
779
+ 0
780
+ ],
781
+ "joint_positions": [
782
+ 1.3311833143234253
783
+ ],
784
+ "cam_pose": [
785
+ -2.573796272277832,
786
+ -0.011541789397597313,
787
+ 0.9298583269119263
788
+ ],
789
+ "cam_distance": 2.7366394996643066
790
+ },
791
+ {
792
+ "frame": 46,
793
+ "take": 5,
794
+ "manipulation_level": 1,
795
+ "active_joints": [
796
+ 0
797
+ ],
798
+ "joint_positions": [
799
+ 1.3607652187347412
800
+ ],
801
+ "cam_pose": [
802
+ -2.573796272277832,
803
+ -0.011541789397597313,
804
+ 0.9298583269119263
805
+ ],
806
+ "cam_distance": 2.7366394996643066
807
+ },
808
+ {
809
+ "frame": 47,
810
+ "take": 5,
811
+ "manipulation_level": 1,
812
+ "active_joints": [
813
+ 0
814
+ ],
815
+ "joint_positions": [
816
+ 1.3903470039367676
817
+ ],
818
+ "cam_pose": [
819
+ -2.573796272277832,
820
+ -0.011541789397597313,
821
+ 0.9298583269119263
822
+ ],
823
+ "cam_distance": 2.7366394996643066
824
+ },
825
+ {
826
+ "frame": 48,
827
+ "take": 5,
828
+ "manipulation_level": 1,
829
+ "active_joints": [
830
+ 0
831
+ ],
832
+ "joint_positions": [
833
+ 1.4199289083480835
834
+ ],
835
+ "cam_pose": [
836
+ -2.573796272277832,
837
+ -0.011541789397597313,
838
+ 0.9298583269119263
839
+ ],
840
+ "cam_distance": 2.7366394996643066
841
+ },
842
+ {
843
+ "frame": 49,
844
+ "take": 5,
845
+ "manipulation_level": 1,
846
+ "active_joints": [
847
+ 0
848
+ ],
849
+ "joint_positions": [
850
+ 1.4495106935501099
851
+ ],
852
+ "cam_pose": [
853
+ -2.573796272277832,
854
+ -0.011541789397597313,
855
+ 0.9298583269119263
856
+ ],
857
+ "cam_distance": 2.7366394996643066
858
+ },
859
+ {
860
+ "frame": 50,
861
+ "take": 5,
862
+ "manipulation_level": 1,
863
+ "active_joints": [
864
+ 0
865
+ ],
866
+ "joint_positions": [
867
+ 1.4790925979614258
868
+ ],
869
+ "cam_pose": [
870
+ -2.573796272277832,
871
+ -0.011541789397597313,
872
+ 0.9298583269119263
873
+ ],
874
+ "cam_distance": 2.7366394996643066
875
+ },
876
+ {
877
+ "frame": 51,
878
+ "take": 5,
879
+ "manipulation_level": 1,
880
+ "active_joints": [
881
+ 0
882
+ ],
883
+ "joint_positions": [
884
+ 1.5086743831634521
885
+ ],
886
+ "cam_pose": [
887
+ -2.573796272277832,
888
+ -0.011541789397597313,
889
+ 0.9298583269119263
890
+ ],
891
+ "cam_distance": 2.7366394996643066
892
+ },
893
+ {
894
+ "frame": 52,
895
+ "take": 5,
896
+ "manipulation_level": 1,
897
+ "active_joints": [
898
+ 0
899
+ ],
900
+ "joint_positions": [
901
+ 1.538256287574768
902
+ ],
903
+ "cam_pose": [
904
+ -2.573796272277832,
905
+ -0.011541789397597313,
906
+ 0.9298583269119263
907
+ ],
908
+ "cam_distance": 2.7366394996643066
909
+ },
910
+ {
911
+ "frame": 53,
912
+ "take": 5,
913
+ "manipulation_level": 1,
914
+ "active_joints": [
915
+ 0
916
+ ],
917
+ "joint_positions": [
918
+ 1.567838191986084
919
+ ],
920
+ "cam_pose": [
921
+ -2.573796272277832,
922
+ -0.011541789397597313,
923
+ 0.9298583269119263
924
+ ],
925
+ "cam_distance": 2.7366394996643066
926
+ },
927
+ {
928
+ "frame": 54,
929
+ "take": 5,
930
+ "manipulation_level": 1,
931
+ "active_joints": [
932
+ 0
933
+ ],
934
+ "joint_positions": [
935
+ 1.5974199771881104
936
+ ],
937
+ "cam_pose": [
938
+ -2.573796272277832,
939
+ -0.011541789397597313,
940
+ 0.9298583269119263
941
+ ],
942
+ "cam_distance": 2.7366394996643066
943
+ },
944
+ {
945
+ "frame": 55,
946
+ "take": 5,
947
+ "manipulation_level": 1,
948
+ "active_joints": [
949
+ 0
950
+ ],
951
+ "joint_positions": [
952
+ 1.6270018815994263
953
+ ],
954
+ "cam_pose": [
955
+ -2.573796272277832,
956
+ -0.011541789397597313,
957
+ 0.9298583269119263
958
+ ],
959
+ "cam_distance": 2.7366394996643066
960
+ },
961
+ {
962
+ "frame": 56,
963
+ "take": 5,
964
+ "manipulation_level": 1,
965
+ "active_joints": [
966
+ 0
967
+ ],
968
+ "joint_positions": [
969
+ 1.6565836668014526
970
+ ],
971
+ "cam_pose": [
972
+ -2.573796272277832,
973
+ -0.011541789397597313,
974
+ 0.9298583269119263
975
+ ],
976
+ "cam_distance": 2.7366394996643066
977
+ },
978
+ {
979
+ "frame": 57,
980
+ "take": 5,
981
+ "manipulation_level": 1,
982
+ "active_joints": [
983
+ 0
984
+ ],
985
+ "joint_positions": [
986
+ 1.6861655712127686
987
+ ],
988
+ "cam_pose": [
989
+ -2.573796272277832,
990
+ -0.011541789397597313,
991
+ 0.9298583269119263
992
+ ],
993
+ "cam_distance": 2.7366394996643066
994
+ },
995
+ {
996
+ "frame": 58,
997
+ "take": 5,
998
+ "manipulation_level": 1,
999
+ "active_joints": [
1000
+ 0
1001
+ ],
1002
+ "joint_positions": [
1003
+ 1.715747356414795
1004
+ ],
1005
+ "cam_pose": [
1006
+ -2.573796272277832,
1007
+ -0.011541789397597313,
1008
+ 0.9298583269119263
1009
+ ],
1010
+ "cam_distance": 2.7366394996643066
1011
+ },
1012
+ {
1013
+ "frame": 59,
1014
+ "take": 5,
1015
+ "manipulation_level": 1,
1016
+ "active_joints": [
1017
+ 0
1018
+ ],
1019
+ "joint_positions": [
1020
+ 1.7453292608261108
1021
+ ],
1022
+ "cam_pose": [
1023
+ -2.573796272277832,
1024
+ -0.011541789397597313,
1025
+ 0.9298583269119263
1026
+ ],
1027
+ "cam_distance": 2.7366394996643066
1028
+ }
1029
+ ]
1030
+ }
manipulation_1/38516/take_06/metadata.json ADDED
@@ -0,0 +1,1030 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object_id": "38516",
3
+ "manipulation_level": 1,
4
+ "active_joints": [
5
+ 0
6
+ ],
7
+ "total_joints": 1,
8
+ "frames": [
9
+ {
10
+ "frame": 0,
11
+ "take": 6,
12
+ "manipulation_level": 1,
13
+ "active_joints": [
14
+ 0
15
+ ],
16
+ "joint_positions": [
17
+ 0.0
18
+ ],
19
+ "cam_pose": [
20
+ -2.4082515239715576,
21
+ 0.5226387977600098,
22
+ 0.7788971066474915
23
+ ],
24
+ "cam_distance": 2.5844740867614746
25
+ },
26
+ {
27
+ "frame": 1,
28
+ "take": 6,
29
+ "manipulation_level": 1,
30
+ "active_joints": [
31
+ 0
32
+ ],
33
+ "joint_positions": [
34
+ 0.02958185225725174
35
+ ],
36
+ "cam_pose": [
37
+ -2.4082515239715576,
38
+ 0.5226387977600098,
39
+ 0.7788971066474915
40
+ ],
41
+ "cam_distance": 2.5844740867614746
42
+ },
43
+ {
44
+ "frame": 2,
45
+ "take": 6,
46
+ "manipulation_level": 1,
47
+ "active_joints": [
48
+ 0
49
+ ],
50
+ "joint_positions": [
51
+ 0.05916370451450348
52
+ ],
53
+ "cam_pose": [
54
+ -2.4082515239715576,
55
+ 0.5226387977600098,
56
+ 0.7788971066474915
57
+ ],
58
+ "cam_distance": 2.5844740867614746
59
+ },
60
+ {
61
+ "frame": 3,
62
+ "take": 6,
63
+ "manipulation_level": 1,
64
+ "active_joints": [
65
+ 0
66
+ ],
67
+ "joint_positions": [
68
+ 0.08874555677175522
69
+ ],
70
+ "cam_pose": [
71
+ -2.4082515239715576,
72
+ 0.5226387977600098,
73
+ 0.7788971066474915
74
+ ],
75
+ "cam_distance": 2.5844740867614746
76
+ },
77
+ {
78
+ "frame": 4,
79
+ "take": 6,
80
+ "manipulation_level": 1,
81
+ "active_joints": [
82
+ 0
83
+ ],
84
+ "joint_positions": [
85
+ 0.11832740902900696
86
+ ],
87
+ "cam_pose": [
88
+ -2.4082515239715576,
89
+ 0.5226387977600098,
90
+ 0.7788971066474915
91
+ ],
92
+ "cam_distance": 2.5844740867614746
93
+ },
94
+ {
95
+ "frame": 5,
96
+ "take": 6,
97
+ "manipulation_level": 1,
98
+ "active_joints": [
99
+ 0
100
+ ],
101
+ "joint_positions": [
102
+ 0.1479092538356781
103
+ ],
104
+ "cam_pose": [
105
+ -2.4082515239715576,
106
+ 0.5226387977600098,
107
+ 0.7788971066474915
108
+ ],
109
+ "cam_distance": 2.5844740867614746
110
+ },
111
+ {
112
+ "frame": 6,
113
+ "take": 6,
114
+ "manipulation_level": 1,
115
+ "active_joints": [
116
+ 0
117
+ ],
118
+ "joint_positions": [
119
+ 0.17749111354351044
120
+ ],
121
+ "cam_pose": [
122
+ -2.4082515239715576,
123
+ 0.5226387977600098,
124
+ 0.7788971066474915
125
+ ],
126
+ "cam_distance": 2.5844740867614746
127
+ },
128
+ {
129
+ "frame": 7,
130
+ "take": 6,
131
+ "manipulation_level": 1,
132
+ "active_joints": [
133
+ 0
134
+ ],
135
+ "joint_positions": [
136
+ 0.20707295835018158
137
+ ],
138
+ "cam_pose": [
139
+ -2.4082515239715576,
140
+ 0.5226387977600098,
141
+ 0.7788971066474915
142
+ ],
143
+ "cam_distance": 2.5844740867614746
144
+ },
145
+ {
146
+ "frame": 8,
147
+ "take": 6,
148
+ "manipulation_level": 1,
149
+ "active_joints": [
150
+ 0
151
+ ],
152
+ "joint_positions": [
153
+ 0.23665481805801392
154
+ ],
155
+ "cam_pose": [
156
+ -2.4082515239715576,
157
+ 0.5226387977600098,
158
+ 0.7788971066474915
159
+ ],
160
+ "cam_distance": 2.5844740867614746
161
+ },
162
+ {
163
+ "frame": 9,
164
+ "take": 6,
165
+ "manipulation_level": 1,
166
+ "active_joints": [
167
+ 0
168
+ ],
169
+ "joint_positions": [
170
+ 0.26623666286468506
171
+ ],
172
+ "cam_pose": [
173
+ -2.4082515239715576,
174
+ 0.5226387977600098,
175
+ 0.7788971066474915
176
+ ],
177
+ "cam_distance": 2.5844740867614746
178
+ },
179
+ {
180
+ "frame": 10,
181
+ "take": 6,
182
+ "manipulation_level": 1,
183
+ "active_joints": [
184
+ 0
185
+ ],
186
+ "joint_positions": [
187
+ 0.2958185076713562
188
+ ],
189
+ "cam_pose": [
190
+ -2.4082515239715576,
191
+ 0.5226387977600098,
192
+ 0.7788971066474915
193
+ ],
194
+ "cam_distance": 2.5844740867614746
195
+ },
196
+ {
197
+ "frame": 11,
198
+ "take": 6,
199
+ "manipulation_level": 1,
200
+ "active_joints": [
201
+ 0
202
+ ],
203
+ "joint_positions": [
204
+ 0.32540038228034973
205
+ ],
206
+ "cam_pose": [
207
+ -2.4082515239715576,
208
+ 0.5226387977600098,
209
+ 0.7788971066474915
210
+ ],
211
+ "cam_distance": 2.5844740867614746
212
+ },
213
+ {
214
+ "frame": 12,
215
+ "take": 6,
216
+ "manipulation_level": 1,
217
+ "active_joints": [
218
+ 0
219
+ ],
220
+ "joint_positions": [
221
+ 0.3549822270870209
222
+ ],
223
+ "cam_pose": [
224
+ -2.4082515239715576,
225
+ 0.5226387977600098,
226
+ 0.7788971066474915
227
+ ],
228
+ "cam_distance": 2.5844740867614746
229
+ },
230
+ {
231
+ "frame": 13,
232
+ "take": 6,
233
+ "manipulation_level": 1,
234
+ "active_joints": [
235
+ 0
236
+ ],
237
+ "joint_positions": [
238
+ 0.384564071893692
239
+ ],
240
+ "cam_pose": [
241
+ -2.4082515239715576,
242
+ 0.5226387977600098,
243
+ 0.7788971066474915
244
+ ],
245
+ "cam_distance": 2.5844740867614746
246
+ },
247
+ {
248
+ "frame": 14,
249
+ "take": 6,
250
+ "manipulation_level": 1,
251
+ "active_joints": [
252
+ 0
253
+ ],
254
+ "joint_positions": [
255
+ 0.41414591670036316
256
+ ],
257
+ "cam_pose": [
258
+ -2.4082515239715576,
259
+ 0.5226387977600098,
260
+ 0.7788971066474915
261
+ ],
262
+ "cam_distance": 2.5844740867614746
263
+ },
264
+ {
265
+ "frame": 15,
266
+ "take": 6,
267
+ "manipulation_level": 1,
268
+ "active_joints": [
269
+ 0
270
+ ],
271
+ "joint_positions": [
272
+ 0.4437277615070343
273
+ ],
274
+ "cam_pose": [
275
+ -2.4082515239715576,
276
+ 0.5226387977600098,
277
+ 0.7788971066474915
278
+ ],
279
+ "cam_distance": 2.5844740867614746
280
+ },
281
+ {
282
+ "frame": 16,
283
+ "take": 6,
284
+ "manipulation_level": 1,
285
+ "active_joints": [
286
+ 0
287
+ ],
288
+ "joint_positions": [
289
+ 0.47330963611602783
290
+ ],
291
+ "cam_pose": [
292
+ -2.4082515239715576,
293
+ 0.5226387977600098,
294
+ 0.7788971066474915
295
+ ],
296
+ "cam_distance": 2.5844740867614746
297
+ },
298
+ {
299
+ "frame": 17,
300
+ "take": 6,
301
+ "manipulation_level": 1,
302
+ "active_joints": [
303
+ 0
304
+ ],
305
+ "joint_positions": [
306
+ 0.502891480922699
307
+ ],
308
+ "cam_pose": [
309
+ -2.4082515239715576,
310
+ 0.5226387977600098,
311
+ 0.7788971066474915
312
+ ],
313
+ "cam_distance": 2.5844740867614746
314
+ },
315
+ {
316
+ "frame": 18,
317
+ "take": 6,
318
+ "manipulation_level": 1,
319
+ "active_joints": [
320
+ 0
321
+ ],
322
+ "joint_positions": [
323
+ 0.5324733257293701
324
+ ],
325
+ "cam_pose": [
326
+ -2.4082515239715576,
327
+ 0.5226387977600098,
328
+ 0.7788971066474915
329
+ ],
330
+ "cam_distance": 2.5844740867614746
331
+ },
332
+ {
333
+ "frame": 19,
334
+ "take": 6,
335
+ "manipulation_level": 1,
336
+ "active_joints": [
337
+ 0
338
+ ],
339
+ "joint_positions": [
340
+ 0.5620551705360413
341
+ ],
342
+ "cam_pose": [
343
+ -2.4082515239715576,
344
+ 0.5226387977600098,
345
+ 0.7788971066474915
346
+ ],
347
+ "cam_distance": 2.5844740867614746
348
+ },
349
+ {
350
+ "frame": 20,
351
+ "take": 6,
352
+ "manipulation_level": 1,
353
+ "active_joints": [
354
+ 0
355
+ ],
356
+ "joint_positions": [
357
+ 0.5916370153427124
358
+ ],
359
+ "cam_pose": [
360
+ -2.4082515239715576,
361
+ 0.5226387977600098,
362
+ 0.7788971066474915
363
+ ],
364
+ "cam_distance": 2.5844740867614746
365
+ },
366
+ {
367
+ "frame": 21,
368
+ "take": 6,
369
+ "manipulation_level": 1,
370
+ "active_joints": [
371
+ 0
372
+ ],
373
+ "joint_positions": [
374
+ 0.6212188601493835
375
+ ],
376
+ "cam_pose": [
377
+ -2.4082515239715576,
378
+ 0.5226387977600098,
379
+ 0.7788971066474915
380
+ ],
381
+ "cam_distance": 2.5844740867614746
382
+ },
383
+ {
384
+ "frame": 22,
385
+ "take": 6,
386
+ "manipulation_level": 1,
387
+ "active_joints": [
388
+ 0
389
+ ],
390
+ "joint_positions": [
391
+ 0.6508007645606995
392
+ ],
393
+ "cam_pose": [
394
+ -2.4082515239715576,
395
+ 0.5226387977600098,
396
+ 0.7788971066474915
397
+ ],
398
+ "cam_distance": 2.5844740867614746
399
+ },
400
+ {
401
+ "frame": 23,
402
+ "take": 6,
403
+ "manipulation_level": 1,
404
+ "active_joints": [
405
+ 0
406
+ ],
407
+ "joint_positions": [
408
+ 0.6803826093673706
409
+ ],
410
+ "cam_pose": [
411
+ -2.4082515239715576,
412
+ 0.5226387977600098,
413
+ 0.7788971066474915
414
+ ],
415
+ "cam_distance": 2.5844740867614746
416
+ },
417
+ {
418
+ "frame": 24,
419
+ "take": 6,
420
+ "manipulation_level": 1,
421
+ "active_joints": [
422
+ 0
423
+ ],
424
+ "joint_positions": [
425
+ 0.7099644541740417
426
+ ],
427
+ "cam_pose": [
428
+ -2.4082515239715576,
429
+ 0.5226387977600098,
430
+ 0.7788971066474915
431
+ ],
432
+ "cam_distance": 2.5844740867614746
433
+ },
434
+ {
435
+ "frame": 25,
436
+ "take": 6,
437
+ "manipulation_level": 1,
438
+ "active_joints": [
439
+ 0
440
+ ],
441
+ "joint_positions": [
442
+ 0.7395462989807129
443
+ ],
444
+ "cam_pose": [
445
+ -2.4082515239715576,
446
+ 0.5226387977600098,
447
+ 0.7788971066474915
448
+ ],
449
+ "cam_distance": 2.5844740867614746
450
+ },
451
+ {
452
+ "frame": 26,
453
+ "take": 6,
454
+ "manipulation_level": 1,
455
+ "active_joints": [
456
+ 0
457
+ ],
458
+ "joint_positions": [
459
+ 0.769128143787384
460
+ ],
461
+ "cam_pose": [
462
+ -2.4082515239715576,
463
+ 0.5226387977600098,
464
+ 0.7788971066474915
465
+ ],
466
+ "cam_distance": 2.5844740867614746
467
+ },
468
+ {
469
+ "frame": 27,
470
+ "take": 6,
471
+ "manipulation_level": 1,
472
+ "active_joints": [
473
+ 0
474
+ ],
475
+ "joint_positions": [
476
+ 0.7987099885940552
477
+ ],
478
+ "cam_pose": [
479
+ -2.4082515239715576,
480
+ 0.5226387977600098,
481
+ 0.7788971066474915
482
+ ],
483
+ "cam_distance": 2.5844740867614746
484
+ },
485
+ {
486
+ "frame": 28,
487
+ "take": 6,
488
+ "manipulation_level": 1,
489
+ "active_joints": [
490
+ 0
491
+ ],
492
+ "joint_positions": [
493
+ 0.8282918334007263
494
+ ],
495
+ "cam_pose": [
496
+ -2.4082515239715576,
497
+ 0.5226387977600098,
498
+ 0.7788971066474915
499
+ ],
500
+ "cam_distance": 2.5844740867614746
501
+ },
502
+ {
503
+ "frame": 29,
504
+ "take": 6,
505
+ "manipulation_level": 1,
506
+ "active_joints": [
507
+ 0
508
+ ],
509
+ "joint_positions": [
510
+ 0.8578736782073975
511
+ ],
512
+ "cam_pose": [
513
+ -2.4082515239715576,
514
+ 0.5226387977600098,
515
+ 0.7788971066474915
516
+ ],
517
+ "cam_distance": 2.5844740867614746
518
+ },
519
+ {
520
+ "frame": 30,
521
+ "take": 6,
522
+ "manipulation_level": 1,
523
+ "active_joints": [
524
+ 0
525
+ ],
526
+ "joint_positions": [
527
+ 0.8874555230140686
528
+ ],
529
+ "cam_pose": [
530
+ -2.4082515239715576,
531
+ 0.5226387977600098,
532
+ 0.7788971066474915
533
+ ],
534
+ "cam_distance": 2.5844740867614746
535
+ },
536
+ {
537
+ "frame": 31,
538
+ "take": 6,
539
+ "manipulation_level": 1,
540
+ "active_joints": [
541
+ 0
542
+ ],
543
+ "joint_positions": [
544
+ 0.9170374274253845
545
+ ],
546
+ "cam_pose": [
547
+ -2.4082515239715576,
548
+ 0.5226387977600098,
549
+ 0.7788971066474915
550
+ ],
551
+ "cam_distance": 2.5844740867614746
552
+ },
553
+ {
554
+ "frame": 32,
555
+ "take": 6,
556
+ "manipulation_level": 1,
557
+ "active_joints": [
558
+ 0
559
+ ],
560
+ "joint_positions": [
561
+ 0.9466192722320557
562
+ ],
563
+ "cam_pose": [
564
+ -2.4082515239715576,
565
+ 0.5226387977600098,
566
+ 0.7788971066474915
567
+ ],
568
+ "cam_distance": 2.5844740867614746
569
+ },
570
+ {
571
+ "frame": 33,
572
+ "take": 6,
573
+ "manipulation_level": 1,
574
+ "active_joints": [
575
+ 0
576
+ ],
577
+ "joint_positions": [
578
+ 0.9762011170387268
579
+ ],
580
+ "cam_pose": [
581
+ -2.4082515239715576,
582
+ 0.5226387977600098,
583
+ 0.7788971066474915
584
+ ],
585
+ "cam_distance": 2.5844740867614746
586
+ },
587
+ {
588
+ "frame": 34,
589
+ "take": 6,
590
+ "manipulation_level": 1,
591
+ "active_joints": [
592
+ 0
593
+ ],
594
+ "joint_positions": [
595
+ 1.005782961845398
596
+ ],
597
+ "cam_pose": [
598
+ -2.4082515239715576,
599
+ 0.5226387977600098,
600
+ 0.7788971066474915
601
+ ],
602
+ "cam_distance": 2.5844740867614746
603
+ },
604
+ {
605
+ "frame": 35,
606
+ "take": 6,
607
+ "manipulation_level": 1,
608
+ "active_joints": [
609
+ 0
610
+ ],
611
+ "joint_positions": [
612
+ 1.0353648662567139
613
+ ],
614
+ "cam_pose": [
615
+ -2.4082515239715576,
616
+ 0.5226387977600098,
617
+ 0.7788971066474915
618
+ ],
619
+ "cam_distance": 2.5844740867614746
620
+ },
621
+ {
622
+ "frame": 36,
623
+ "take": 6,
624
+ "manipulation_level": 1,
625
+ "active_joints": [
626
+ 0
627
+ ],
628
+ "joint_positions": [
629
+ 1.0649466514587402
630
+ ],
631
+ "cam_pose": [
632
+ -2.4082515239715576,
633
+ 0.5226387977600098,
634
+ 0.7788971066474915
635
+ ],
636
+ "cam_distance": 2.5844740867614746
637
+ },
638
+ {
639
+ "frame": 37,
640
+ "take": 6,
641
+ "manipulation_level": 1,
642
+ "active_joints": [
643
+ 0
644
+ ],
645
+ "joint_positions": [
646
+ 1.0945285558700562
647
+ ],
648
+ "cam_pose": [
649
+ -2.4082515239715576,
650
+ 0.5226387977600098,
651
+ 0.7788971066474915
652
+ ],
653
+ "cam_distance": 2.5844740867614746
654
+ },
655
+ {
656
+ "frame": 38,
657
+ "take": 6,
658
+ "manipulation_level": 1,
659
+ "active_joints": [
660
+ 0
661
+ ],
662
+ "joint_positions": [
663
+ 1.1241103410720825
664
+ ],
665
+ "cam_pose": [
666
+ -2.4082515239715576,
667
+ 0.5226387977600098,
668
+ 0.7788971066474915
669
+ ],
670
+ "cam_distance": 2.5844740867614746
671
+ },
672
+ {
673
+ "frame": 39,
674
+ "take": 6,
675
+ "manipulation_level": 1,
676
+ "active_joints": [
677
+ 0
678
+ ],
679
+ "joint_positions": [
680
+ 1.1536922454833984
681
+ ],
682
+ "cam_pose": [
683
+ -2.4082515239715576,
684
+ 0.5226387977600098,
685
+ 0.7788971066474915
686
+ ],
687
+ "cam_distance": 2.5844740867614746
688
+ },
689
+ {
690
+ "frame": 40,
691
+ "take": 6,
692
+ "manipulation_level": 1,
693
+ "active_joints": [
694
+ 0
695
+ ],
696
+ "joint_positions": [
697
+ 1.1832740306854248
698
+ ],
699
+ "cam_pose": [
700
+ -2.4082515239715576,
701
+ 0.5226387977600098,
702
+ 0.7788971066474915
703
+ ],
704
+ "cam_distance": 2.5844740867614746
705
+ },
706
+ {
707
+ "frame": 41,
708
+ "take": 6,
709
+ "manipulation_level": 1,
710
+ "active_joints": [
711
+ 0
712
+ ],
713
+ "joint_positions": [
714
+ 1.2128559350967407
715
+ ],
716
+ "cam_pose": [
717
+ -2.4082515239715576,
718
+ 0.5226387977600098,
719
+ 0.7788971066474915
720
+ ],
721
+ "cam_distance": 2.5844740867614746
722
+ },
723
+ {
724
+ "frame": 42,
725
+ "take": 6,
726
+ "manipulation_level": 1,
727
+ "active_joints": [
728
+ 0
729
+ ],
730
+ "joint_positions": [
731
+ 1.242437720298767
732
+ ],
733
+ "cam_pose": [
734
+ -2.4082515239715576,
735
+ 0.5226387977600098,
736
+ 0.7788971066474915
737
+ ],
738
+ "cam_distance": 2.5844740867614746
739
+ },
740
+ {
741
+ "frame": 43,
742
+ "take": 6,
743
+ "manipulation_level": 1,
744
+ "active_joints": [
745
+ 0
746
+ ],
747
+ "joint_positions": [
748
+ 1.272019624710083
749
+ ],
750
+ "cam_pose": [
751
+ -2.4082515239715576,
752
+ 0.5226387977600098,
753
+ 0.7788971066474915
754
+ ],
755
+ "cam_distance": 2.5844740867614746
756
+ },
757
+ {
758
+ "frame": 44,
759
+ "take": 6,
760
+ "manipulation_level": 1,
761
+ "active_joints": [
762
+ 0
763
+ ],
764
+ "joint_positions": [
765
+ 1.301601529121399
766
+ ],
767
+ "cam_pose": [
768
+ -2.4082515239715576,
769
+ 0.5226387977600098,
770
+ 0.7788971066474915
771
+ ],
772
+ "cam_distance": 2.5844740867614746
773
+ },
774
+ {
775
+ "frame": 45,
776
+ "take": 6,
777
+ "manipulation_level": 1,
778
+ "active_joints": [
779
+ 0
780
+ ],
781
+ "joint_positions": [
782
+ 1.3311833143234253
783
+ ],
784
+ "cam_pose": [
785
+ -2.4082515239715576,
786
+ 0.5226387977600098,
787
+ 0.7788971066474915
788
+ ],
789
+ "cam_distance": 2.5844740867614746
790
+ },
791
+ {
792
+ "frame": 46,
793
+ "take": 6,
794
+ "manipulation_level": 1,
795
+ "active_joints": [
796
+ 0
797
+ ],
798
+ "joint_positions": [
799
+ 1.3607652187347412
800
+ ],
801
+ "cam_pose": [
802
+ -2.4082515239715576,
803
+ 0.5226387977600098,
804
+ 0.7788971066474915
805
+ ],
806
+ "cam_distance": 2.5844740867614746
807
+ },
808
+ {
809
+ "frame": 47,
810
+ "take": 6,
811
+ "manipulation_level": 1,
812
+ "active_joints": [
813
+ 0
814
+ ],
815
+ "joint_positions": [
816
+ 1.3903470039367676
817
+ ],
818
+ "cam_pose": [
819
+ -2.4082515239715576,
820
+ 0.5226387977600098,
821
+ 0.7788971066474915
822
+ ],
823
+ "cam_distance": 2.5844740867614746
824
+ },
825
+ {
826
+ "frame": 48,
827
+ "take": 6,
828
+ "manipulation_level": 1,
829
+ "active_joints": [
830
+ 0
831
+ ],
832
+ "joint_positions": [
833
+ 1.4199289083480835
834
+ ],
835
+ "cam_pose": [
836
+ -2.4082515239715576,
837
+ 0.5226387977600098,
838
+ 0.7788971066474915
839
+ ],
840
+ "cam_distance": 2.5844740867614746
841
+ },
842
+ {
843
+ "frame": 49,
844
+ "take": 6,
845
+ "manipulation_level": 1,
846
+ "active_joints": [
847
+ 0
848
+ ],
849
+ "joint_positions": [
850
+ 1.4495106935501099
851
+ ],
852
+ "cam_pose": [
853
+ -2.4082515239715576,
854
+ 0.5226387977600098,
855
+ 0.7788971066474915
856
+ ],
857
+ "cam_distance": 2.5844740867614746
858
+ },
859
+ {
860
+ "frame": 50,
861
+ "take": 6,
862
+ "manipulation_level": 1,
863
+ "active_joints": [
864
+ 0
865
+ ],
866
+ "joint_positions": [
867
+ 1.4790925979614258
868
+ ],
869
+ "cam_pose": [
870
+ -2.4082515239715576,
871
+ 0.5226387977600098,
872
+ 0.7788971066474915
873
+ ],
874
+ "cam_distance": 2.5844740867614746
875
+ },
876
+ {
877
+ "frame": 51,
878
+ "take": 6,
879
+ "manipulation_level": 1,
880
+ "active_joints": [
881
+ 0
882
+ ],
883
+ "joint_positions": [
884
+ 1.5086743831634521
885
+ ],
886
+ "cam_pose": [
887
+ -2.4082515239715576,
888
+ 0.5226387977600098,
889
+ 0.7788971066474915
890
+ ],
891
+ "cam_distance": 2.5844740867614746
892
+ },
893
+ {
894
+ "frame": 52,
895
+ "take": 6,
896
+ "manipulation_level": 1,
897
+ "active_joints": [
898
+ 0
899
+ ],
900
+ "joint_positions": [
901
+ 1.538256287574768
902
+ ],
903
+ "cam_pose": [
904
+ -2.4082515239715576,
905
+ 0.5226387977600098,
906
+ 0.7788971066474915
907
+ ],
908
+ "cam_distance": 2.5844740867614746
909
+ },
910
+ {
911
+ "frame": 53,
912
+ "take": 6,
913
+ "manipulation_level": 1,
914
+ "active_joints": [
915
+ 0
916
+ ],
917
+ "joint_positions": [
918
+ 1.567838191986084
919
+ ],
920
+ "cam_pose": [
921
+ -2.4082515239715576,
922
+ 0.5226387977600098,
923
+ 0.7788971066474915
924
+ ],
925
+ "cam_distance": 2.5844740867614746
926
+ },
927
+ {
928
+ "frame": 54,
929
+ "take": 6,
930
+ "manipulation_level": 1,
931
+ "active_joints": [
932
+ 0
933
+ ],
934
+ "joint_positions": [
935
+ 1.5974199771881104
936
+ ],
937
+ "cam_pose": [
938
+ -2.4082515239715576,
939
+ 0.5226387977600098,
940
+ 0.7788971066474915
941
+ ],
942
+ "cam_distance": 2.5844740867614746
943
+ },
944
+ {
945
+ "frame": 55,
946
+ "take": 6,
947
+ "manipulation_level": 1,
948
+ "active_joints": [
949
+ 0
950
+ ],
951
+ "joint_positions": [
952
+ 1.6270018815994263
953
+ ],
954
+ "cam_pose": [
955
+ -2.4082515239715576,
956
+ 0.5226387977600098,
957
+ 0.7788971066474915
958
+ ],
959
+ "cam_distance": 2.5844740867614746
960
+ },
961
+ {
962
+ "frame": 56,
963
+ "take": 6,
964
+ "manipulation_level": 1,
965
+ "active_joints": [
966
+ 0
967
+ ],
968
+ "joint_positions": [
969
+ 1.6565836668014526
970
+ ],
971
+ "cam_pose": [
972
+ -2.4082515239715576,
973
+ 0.5226387977600098,
974
+ 0.7788971066474915
975
+ ],
976
+ "cam_distance": 2.5844740867614746
977
+ },
978
+ {
979
+ "frame": 57,
980
+ "take": 6,
981
+ "manipulation_level": 1,
982
+ "active_joints": [
983
+ 0
984
+ ],
985
+ "joint_positions": [
986
+ 1.6861655712127686
987
+ ],
988
+ "cam_pose": [
989
+ -2.4082515239715576,
990
+ 0.5226387977600098,
991
+ 0.7788971066474915
992
+ ],
993
+ "cam_distance": 2.5844740867614746
994
+ },
995
+ {
996
+ "frame": 58,
997
+ "take": 6,
998
+ "manipulation_level": 1,
999
+ "active_joints": [
1000
+ 0
1001
+ ],
1002
+ "joint_positions": [
1003
+ 1.715747356414795
1004
+ ],
1005
+ "cam_pose": [
1006
+ -2.4082515239715576,
1007
+ 0.5226387977600098,
1008
+ 0.7788971066474915
1009
+ ],
1010
+ "cam_distance": 2.5844740867614746
1011
+ },
1012
+ {
1013
+ "frame": 59,
1014
+ "take": 6,
1015
+ "manipulation_level": 1,
1016
+ "active_joints": [
1017
+ 0
1018
+ ],
1019
+ "joint_positions": [
1020
+ 1.7453292608261108
1021
+ ],
1022
+ "cam_pose": [
1023
+ -2.4082515239715576,
1024
+ 0.5226387977600098,
1025
+ 0.7788971066474915
1026
+ ],
1027
+ "cam_distance": 2.5844740867614746
1028
+ }
1029
+ ]
1030
+ }
manipulation_1/38516/take_07/metadata.json ADDED
@@ -0,0 +1,1030 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object_id": "38516",
3
+ "manipulation_level": 1,
4
+ "active_joints": [
5
+ 0
6
+ ],
7
+ "total_joints": 1,
8
+ "frames": [
9
+ {
10
+ "frame": 0,
11
+ "take": 7,
12
+ "manipulation_level": 1,
13
+ "active_joints": [
14
+ 0
15
+ ],
16
+ "joint_positions": [
17
+ 0.0
18
+ ],
19
+ "cam_pose": [
20
+ -2.7782504558563232,
21
+ -0.6704502105712891,
22
+ 0.2559416592121124
23
+ ],
24
+ "cam_distance": 2.8694396018981934
25
+ },
26
+ {
27
+ "frame": 1,
28
+ "take": 7,
29
+ "manipulation_level": 1,
30
+ "active_joints": [
31
+ 0
32
+ ],
33
+ "joint_positions": [
34
+ 0.02958185225725174
35
+ ],
36
+ "cam_pose": [
37
+ -2.7782504558563232,
38
+ -0.6704502105712891,
39
+ 0.2559416592121124
40
+ ],
41
+ "cam_distance": 2.8694396018981934
42
+ },
43
+ {
44
+ "frame": 2,
45
+ "take": 7,
46
+ "manipulation_level": 1,
47
+ "active_joints": [
48
+ 0
49
+ ],
50
+ "joint_positions": [
51
+ 0.05916370451450348
52
+ ],
53
+ "cam_pose": [
54
+ -2.7782504558563232,
55
+ -0.6704502105712891,
56
+ 0.2559416592121124
57
+ ],
58
+ "cam_distance": 2.8694396018981934
59
+ },
60
+ {
61
+ "frame": 3,
62
+ "take": 7,
63
+ "manipulation_level": 1,
64
+ "active_joints": [
65
+ 0
66
+ ],
67
+ "joint_positions": [
68
+ 0.08874555677175522
69
+ ],
70
+ "cam_pose": [
71
+ -2.7782504558563232,
72
+ -0.6704502105712891,
73
+ 0.2559416592121124
74
+ ],
75
+ "cam_distance": 2.8694396018981934
76
+ },
77
+ {
78
+ "frame": 4,
79
+ "take": 7,
80
+ "manipulation_level": 1,
81
+ "active_joints": [
82
+ 0
83
+ ],
84
+ "joint_positions": [
85
+ 0.11832740902900696
86
+ ],
87
+ "cam_pose": [
88
+ -2.7782504558563232,
89
+ -0.6704502105712891,
90
+ 0.2559416592121124
91
+ ],
92
+ "cam_distance": 2.8694396018981934
93
+ },
94
+ {
95
+ "frame": 5,
96
+ "take": 7,
97
+ "manipulation_level": 1,
98
+ "active_joints": [
99
+ 0
100
+ ],
101
+ "joint_positions": [
102
+ 0.1479092538356781
103
+ ],
104
+ "cam_pose": [
105
+ -2.7782504558563232,
106
+ -0.6704502105712891,
107
+ 0.2559416592121124
108
+ ],
109
+ "cam_distance": 2.8694396018981934
110
+ },
111
+ {
112
+ "frame": 6,
113
+ "take": 7,
114
+ "manipulation_level": 1,
115
+ "active_joints": [
116
+ 0
117
+ ],
118
+ "joint_positions": [
119
+ 0.17749111354351044
120
+ ],
121
+ "cam_pose": [
122
+ -2.7782504558563232,
123
+ -0.6704502105712891,
124
+ 0.2559416592121124
125
+ ],
126
+ "cam_distance": 2.8694396018981934
127
+ },
128
+ {
129
+ "frame": 7,
130
+ "take": 7,
131
+ "manipulation_level": 1,
132
+ "active_joints": [
133
+ 0
134
+ ],
135
+ "joint_positions": [
136
+ 0.20707295835018158
137
+ ],
138
+ "cam_pose": [
139
+ -2.7782504558563232,
140
+ -0.6704502105712891,
141
+ 0.2559416592121124
142
+ ],
143
+ "cam_distance": 2.8694396018981934
144
+ },
145
+ {
146
+ "frame": 8,
147
+ "take": 7,
148
+ "manipulation_level": 1,
149
+ "active_joints": [
150
+ 0
151
+ ],
152
+ "joint_positions": [
153
+ 0.23665481805801392
154
+ ],
155
+ "cam_pose": [
156
+ -2.7782504558563232,
157
+ -0.6704502105712891,
158
+ 0.2559416592121124
159
+ ],
160
+ "cam_distance": 2.8694396018981934
161
+ },
162
+ {
163
+ "frame": 9,
164
+ "take": 7,
165
+ "manipulation_level": 1,
166
+ "active_joints": [
167
+ 0
168
+ ],
169
+ "joint_positions": [
170
+ 0.26623666286468506
171
+ ],
172
+ "cam_pose": [
173
+ -2.7782504558563232,
174
+ -0.6704502105712891,
175
+ 0.2559416592121124
176
+ ],
177
+ "cam_distance": 2.8694396018981934
178
+ },
179
+ {
180
+ "frame": 10,
181
+ "take": 7,
182
+ "manipulation_level": 1,
183
+ "active_joints": [
184
+ 0
185
+ ],
186
+ "joint_positions": [
187
+ 0.2958185076713562
188
+ ],
189
+ "cam_pose": [
190
+ -2.7782504558563232,
191
+ -0.6704502105712891,
192
+ 0.2559416592121124
193
+ ],
194
+ "cam_distance": 2.8694396018981934
195
+ },
196
+ {
197
+ "frame": 11,
198
+ "take": 7,
199
+ "manipulation_level": 1,
200
+ "active_joints": [
201
+ 0
202
+ ],
203
+ "joint_positions": [
204
+ 0.32540038228034973
205
+ ],
206
+ "cam_pose": [
207
+ -2.7782504558563232,
208
+ -0.6704502105712891,
209
+ 0.2559416592121124
210
+ ],
211
+ "cam_distance": 2.8694396018981934
212
+ },
213
+ {
214
+ "frame": 12,
215
+ "take": 7,
216
+ "manipulation_level": 1,
217
+ "active_joints": [
218
+ 0
219
+ ],
220
+ "joint_positions": [
221
+ 0.3549822270870209
222
+ ],
223
+ "cam_pose": [
224
+ -2.7782504558563232,
225
+ -0.6704502105712891,
226
+ 0.2559416592121124
227
+ ],
228
+ "cam_distance": 2.8694396018981934
229
+ },
230
+ {
231
+ "frame": 13,
232
+ "take": 7,
233
+ "manipulation_level": 1,
234
+ "active_joints": [
235
+ 0
236
+ ],
237
+ "joint_positions": [
238
+ 0.384564071893692
239
+ ],
240
+ "cam_pose": [
241
+ -2.7782504558563232,
242
+ -0.6704502105712891,
243
+ 0.2559416592121124
244
+ ],
245
+ "cam_distance": 2.8694396018981934
246
+ },
247
+ {
248
+ "frame": 14,
249
+ "take": 7,
250
+ "manipulation_level": 1,
251
+ "active_joints": [
252
+ 0
253
+ ],
254
+ "joint_positions": [
255
+ 0.41414591670036316
256
+ ],
257
+ "cam_pose": [
258
+ -2.7782504558563232,
259
+ -0.6704502105712891,
260
+ 0.2559416592121124
261
+ ],
262
+ "cam_distance": 2.8694396018981934
263
+ },
264
+ {
265
+ "frame": 15,
266
+ "take": 7,
267
+ "manipulation_level": 1,
268
+ "active_joints": [
269
+ 0
270
+ ],
271
+ "joint_positions": [
272
+ 0.4437277615070343
273
+ ],
274
+ "cam_pose": [
275
+ -2.7782504558563232,
276
+ -0.6704502105712891,
277
+ 0.2559416592121124
278
+ ],
279
+ "cam_distance": 2.8694396018981934
280
+ },
281
+ {
282
+ "frame": 16,
283
+ "take": 7,
284
+ "manipulation_level": 1,
285
+ "active_joints": [
286
+ 0
287
+ ],
288
+ "joint_positions": [
289
+ 0.47330963611602783
290
+ ],
291
+ "cam_pose": [
292
+ -2.7782504558563232,
293
+ -0.6704502105712891,
294
+ 0.2559416592121124
295
+ ],
296
+ "cam_distance": 2.8694396018981934
297
+ },
298
+ {
299
+ "frame": 17,
300
+ "take": 7,
301
+ "manipulation_level": 1,
302
+ "active_joints": [
303
+ 0
304
+ ],
305
+ "joint_positions": [
306
+ 0.502891480922699
307
+ ],
308
+ "cam_pose": [
309
+ -2.7782504558563232,
310
+ -0.6704502105712891,
311
+ 0.2559416592121124
312
+ ],
313
+ "cam_distance": 2.8694396018981934
314
+ },
315
+ {
316
+ "frame": 18,
317
+ "take": 7,
318
+ "manipulation_level": 1,
319
+ "active_joints": [
320
+ 0
321
+ ],
322
+ "joint_positions": [
323
+ 0.5324733257293701
324
+ ],
325
+ "cam_pose": [
326
+ -2.7782504558563232,
327
+ -0.6704502105712891,
328
+ 0.2559416592121124
329
+ ],
330
+ "cam_distance": 2.8694396018981934
331
+ },
332
+ {
333
+ "frame": 19,
334
+ "take": 7,
335
+ "manipulation_level": 1,
336
+ "active_joints": [
337
+ 0
338
+ ],
339
+ "joint_positions": [
340
+ 0.5620551705360413
341
+ ],
342
+ "cam_pose": [
343
+ -2.7782504558563232,
344
+ -0.6704502105712891,
345
+ 0.2559416592121124
346
+ ],
347
+ "cam_distance": 2.8694396018981934
348
+ },
349
+ {
350
+ "frame": 20,
351
+ "take": 7,
352
+ "manipulation_level": 1,
353
+ "active_joints": [
354
+ 0
355
+ ],
356
+ "joint_positions": [
357
+ 0.5916370153427124
358
+ ],
359
+ "cam_pose": [
360
+ -2.7782504558563232,
361
+ -0.6704502105712891,
362
+ 0.2559416592121124
363
+ ],
364
+ "cam_distance": 2.8694396018981934
365
+ },
366
+ {
367
+ "frame": 21,
368
+ "take": 7,
369
+ "manipulation_level": 1,
370
+ "active_joints": [
371
+ 0
372
+ ],
373
+ "joint_positions": [
374
+ 0.6212188601493835
375
+ ],
376
+ "cam_pose": [
377
+ -2.7782504558563232,
378
+ -0.6704502105712891,
379
+ 0.2559416592121124
380
+ ],
381
+ "cam_distance": 2.8694396018981934
382
+ },
383
+ {
384
+ "frame": 22,
385
+ "take": 7,
386
+ "manipulation_level": 1,
387
+ "active_joints": [
388
+ 0
389
+ ],
390
+ "joint_positions": [
391
+ 0.6508007645606995
392
+ ],
393
+ "cam_pose": [
394
+ -2.7782504558563232,
395
+ -0.6704502105712891,
396
+ 0.2559416592121124
397
+ ],
398
+ "cam_distance": 2.8694396018981934
399
+ },
400
+ {
401
+ "frame": 23,
402
+ "take": 7,
403
+ "manipulation_level": 1,
404
+ "active_joints": [
405
+ 0
406
+ ],
407
+ "joint_positions": [
408
+ 0.6803826093673706
409
+ ],
410
+ "cam_pose": [
411
+ -2.7782504558563232,
412
+ -0.6704502105712891,
413
+ 0.2559416592121124
414
+ ],
415
+ "cam_distance": 2.8694396018981934
416
+ },
417
+ {
418
+ "frame": 24,
419
+ "take": 7,
420
+ "manipulation_level": 1,
421
+ "active_joints": [
422
+ 0
423
+ ],
424
+ "joint_positions": [
425
+ 0.7099644541740417
426
+ ],
427
+ "cam_pose": [
428
+ -2.7782504558563232,
429
+ -0.6704502105712891,
430
+ 0.2559416592121124
431
+ ],
432
+ "cam_distance": 2.8694396018981934
433
+ },
434
+ {
435
+ "frame": 25,
436
+ "take": 7,
437
+ "manipulation_level": 1,
438
+ "active_joints": [
439
+ 0
440
+ ],
441
+ "joint_positions": [
442
+ 0.7395462989807129
443
+ ],
444
+ "cam_pose": [
445
+ -2.7782504558563232,
446
+ -0.6704502105712891,
447
+ 0.2559416592121124
448
+ ],
449
+ "cam_distance": 2.8694396018981934
450
+ },
451
+ {
452
+ "frame": 26,
453
+ "take": 7,
454
+ "manipulation_level": 1,
455
+ "active_joints": [
456
+ 0
457
+ ],
458
+ "joint_positions": [
459
+ 0.769128143787384
460
+ ],
461
+ "cam_pose": [
462
+ -2.7782504558563232,
463
+ -0.6704502105712891,
464
+ 0.2559416592121124
465
+ ],
466
+ "cam_distance": 2.8694396018981934
467
+ },
468
+ {
469
+ "frame": 27,
470
+ "take": 7,
471
+ "manipulation_level": 1,
472
+ "active_joints": [
473
+ 0
474
+ ],
475
+ "joint_positions": [
476
+ 0.7987099885940552
477
+ ],
478
+ "cam_pose": [
479
+ -2.7782504558563232,
480
+ -0.6704502105712891,
481
+ 0.2559416592121124
482
+ ],
483
+ "cam_distance": 2.8694396018981934
484
+ },
485
+ {
486
+ "frame": 28,
487
+ "take": 7,
488
+ "manipulation_level": 1,
489
+ "active_joints": [
490
+ 0
491
+ ],
492
+ "joint_positions": [
493
+ 0.8282918334007263
494
+ ],
495
+ "cam_pose": [
496
+ -2.7782504558563232,
497
+ -0.6704502105712891,
498
+ 0.2559416592121124
499
+ ],
500
+ "cam_distance": 2.8694396018981934
501
+ },
502
+ {
503
+ "frame": 29,
504
+ "take": 7,
505
+ "manipulation_level": 1,
506
+ "active_joints": [
507
+ 0
508
+ ],
509
+ "joint_positions": [
510
+ 0.8578736782073975
511
+ ],
512
+ "cam_pose": [
513
+ -2.7782504558563232,
514
+ -0.6704502105712891,
515
+ 0.2559416592121124
516
+ ],
517
+ "cam_distance": 2.8694396018981934
518
+ },
519
+ {
520
+ "frame": 30,
521
+ "take": 7,
522
+ "manipulation_level": 1,
523
+ "active_joints": [
524
+ 0
525
+ ],
526
+ "joint_positions": [
527
+ 0.8874555230140686
528
+ ],
529
+ "cam_pose": [
530
+ -2.7782504558563232,
531
+ -0.6704502105712891,
532
+ 0.2559416592121124
533
+ ],
534
+ "cam_distance": 2.8694396018981934
535
+ },
536
+ {
537
+ "frame": 31,
538
+ "take": 7,
539
+ "manipulation_level": 1,
540
+ "active_joints": [
541
+ 0
542
+ ],
543
+ "joint_positions": [
544
+ 0.9170374274253845
545
+ ],
546
+ "cam_pose": [
547
+ -2.7782504558563232,
548
+ -0.6704502105712891,
549
+ 0.2559416592121124
550
+ ],
551
+ "cam_distance": 2.8694396018981934
552
+ },
553
+ {
554
+ "frame": 32,
555
+ "take": 7,
556
+ "manipulation_level": 1,
557
+ "active_joints": [
558
+ 0
559
+ ],
560
+ "joint_positions": [
561
+ 0.9466192722320557
562
+ ],
563
+ "cam_pose": [
564
+ -2.7782504558563232,
565
+ -0.6704502105712891,
566
+ 0.2559416592121124
567
+ ],
568
+ "cam_distance": 2.8694396018981934
569
+ },
570
+ {
571
+ "frame": 33,
572
+ "take": 7,
573
+ "manipulation_level": 1,
574
+ "active_joints": [
575
+ 0
576
+ ],
577
+ "joint_positions": [
578
+ 0.9762011170387268
579
+ ],
580
+ "cam_pose": [
581
+ -2.7782504558563232,
582
+ -0.6704502105712891,
583
+ 0.2559416592121124
584
+ ],
585
+ "cam_distance": 2.8694396018981934
586
+ },
587
+ {
588
+ "frame": 34,
589
+ "take": 7,
590
+ "manipulation_level": 1,
591
+ "active_joints": [
592
+ 0
593
+ ],
594
+ "joint_positions": [
595
+ 1.005782961845398
596
+ ],
597
+ "cam_pose": [
598
+ -2.7782504558563232,
599
+ -0.6704502105712891,
600
+ 0.2559416592121124
601
+ ],
602
+ "cam_distance": 2.8694396018981934
603
+ },
604
+ {
605
+ "frame": 35,
606
+ "take": 7,
607
+ "manipulation_level": 1,
608
+ "active_joints": [
609
+ 0
610
+ ],
611
+ "joint_positions": [
612
+ 1.0353648662567139
613
+ ],
614
+ "cam_pose": [
615
+ -2.7782504558563232,
616
+ -0.6704502105712891,
617
+ 0.2559416592121124
618
+ ],
619
+ "cam_distance": 2.8694396018981934
620
+ },
621
+ {
622
+ "frame": 36,
623
+ "take": 7,
624
+ "manipulation_level": 1,
625
+ "active_joints": [
626
+ 0
627
+ ],
628
+ "joint_positions": [
629
+ 1.0649466514587402
630
+ ],
631
+ "cam_pose": [
632
+ -2.7782504558563232,
633
+ -0.6704502105712891,
634
+ 0.2559416592121124
635
+ ],
636
+ "cam_distance": 2.8694396018981934
637
+ },
638
+ {
639
+ "frame": 37,
640
+ "take": 7,
641
+ "manipulation_level": 1,
642
+ "active_joints": [
643
+ 0
644
+ ],
645
+ "joint_positions": [
646
+ 1.0945285558700562
647
+ ],
648
+ "cam_pose": [
649
+ -2.7782504558563232,
650
+ -0.6704502105712891,
651
+ 0.2559416592121124
652
+ ],
653
+ "cam_distance": 2.8694396018981934
654
+ },
655
+ {
656
+ "frame": 38,
657
+ "take": 7,
658
+ "manipulation_level": 1,
659
+ "active_joints": [
660
+ 0
661
+ ],
662
+ "joint_positions": [
663
+ 1.1241103410720825
664
+ ],
665
+ "cam_pose": [
666
+ -2.7782504558563232,
667
+ -0.6704502105712891,
668
+ 0.2559416592121124
669
+ ],
670
+ "cam_distance": 2.8694396018981934
671
+ },
672
+ {
673
+ "frame": 39,
674
+ "take": 7,
675
+ "manipulation_level": 1,
676
+ "active_joints": [
677
+ 0
678
+ ],
679
+ "joint_positions": [
680
+ 1.1536922454833984
681
+ ],
682
+ "cam_pose": [
683
+ -2.7782504558563232,
684
+ -0.6704502105712891,
685
+ 0.2559416592121124
686
+ ],
687
+ "cam_distance": 2.8694396018981934
688
+ },
689
+ {
690
+ "frame": 40,
691
+ "take": 7,
692
+ "manipulation_level": 1,
693
+ "active_joints": [
694
+ 0
695
+ ],
696
+ "joint_positions": [
697
+ 1.1832740306854248
698
+ ],
699
+ "cam_pose": [
700
+ -2.7782504558563232,
701
+ -0.6704502105712891,
702
+ 0.2559416592121124
703
+ ],
704
+ "cam_distance": 2.8694396018981934
705
+ },
706
+ {
707
+ "frame": 41,
708
+ "take": 7,
709
+ "manipulation_level": 1,
710
+ "active_joints": [
711
+ 0
712
+ ],
713
+ "joint_positions": [
714
+ 1.2128559350967407
715
+ ],
716
+ "cam_pose": [
717
+ -2.7782504558563232,
718
+ -0.6704502105712891,
719
+ 0.2559416592121124
720
+ ],
721
+ "cam_distance": 2.8694396018981934
722
+ },
723
+ {
724
+ "frame": 42,
725
+ "take": 7,
726
+ "manipulation_level": 1,
727
+ "active_joints": [
728
+ 0
729
+ ],
730
+ "joint_positions": [
731
+ 1.242437720298767
732
+ ],
733
+ "cam_pose": [
734
+ -2.7782504558563232,
735
+ -0.6704502105712891,
736
+ 0.2559416592121124
737
+ ],
738
+ "cam_distance": 2.8694396018981934
739
+ },
740
+ {
741
+ "frame": 43,
742
+ "take": 7,
743
+ "manipulation_level": 1,
744
+ "active_joints": [
745
+ 0
746
+ ],
747
+ "joint_positions": [
748
+ 1.272019624710083
749
+ ],
750
+ "cam_pose": [
751
+ -2.7782504558563232,
752
+ -0.6704502105712891,
753
+ 0.2559416592121124
754
+ ],
755
+ "cam_distance": 2.8694396018981934
756
+ },
757
+ {
758
+ "frame": 44,
759
+ "take": 7,
760
+ "manipulation_level": 1,
761
+ "active_joints": [
762
+ 0
763
+ ],
764
+ "joint_positions": [
765
+ 1.301601529121399
766
+ ],
767
+ "cam_pose": [
768
+ -2.7782504558563232,
769
+ -0.6704502105712891,
770
+ 0.2559416592121124
771
+ ],
772
+ "cam_distance": 2.8694396018981934
773
+ },
774
+ {
775
+ "frame": 45,
776
+ "take": 7,
777
+ "manipulation_level": 1,
778
+ "active_joints": [
779
+ 0
780
+ ],
781
+ "joint_positions": [
782
+ 1.3311833143234253
783
+ ],
784
+ "cam_pose": [
785
+ -2.7782504558563232,
786
+ -0.6704502105712891,
787
+ 0.2559416592121124
788
+ ],
789
+ "cam_distance": 2.8694396018981934
790
+ },
791
+ {
792
+ "frame": 46,
793
+ "take": 7,
794
+ "manipulation_level": 1,
795
+ "active_joints": [
796
+ 0
797
+ ],
798
+ "joint_positions": [
799
+ 1.3607652187347412
800
+ ],
801
+ "cam_pose": [
802
+ -2.7782504558563232,
803
+ -0.6704502105712891,
804
+ 0.2559416592121124
805
+ ],
806
+ "cam_distance": 2.8694396018981934
807
+ },
808
+ {
809
+ "frame": 47,
810
+ "take": 7,
811
+ "manipulation_level": 1,
812
+ "active_joints": [
813
+ 0
814
+ ],
815
+ "joint_positions": [
816
+ 1.3903470039367676
817
+ ],
818
+ "cam_pose": [
819
+ -2.7782504558563232,
820
+ -0.6704502105712891,
821
+ 0.2559416592121124
822
+ ],
823
+ "cam_distance": 2.8694396018981934
824
+ },
825
+ {
826
+ "frame": 48,
827
+ "take": 7,
828
+ "manipulation_level": 1,
829
+ "active_joints": [
830
+ 0
831
+ ],
832
+ "joint_positions": [
833
+ 1.4199289083480835
834
+ ],
835
+ "cam_pose": [
836
+ -2.7782504558563232,
837
+ -0.6704502105712891,
838
+ 0.2559416592121124
839
+ ],
840
+ "cam_distance": 2.8694396018981934
841
+ },
842
+ {
843
+ "frame": 49,
844
+ "take": 7,
845
+ "manipulation_level": 1,
846
+ "active_joints": [
847
+ 0
848
+ ],
849
+ "joint_positions": [
850
+ 1.4495106935501099
851
+ ],
852
+ "cam_pose": [
853
+ -2.7782504558563232,
854
+ -0.6704502105712891,
855
+ 0.2559416592121124
856
+ ],
857
+ "cam_distance": 2.8694396018981934
858
+ },
859
+ {
860
+ "frame": 50,
861
+ "take": 7,
862
+ "manipulation_level": 1,
863
+ "active_joints": [
864
+ 0
865
+ ],
866
+ "joint_positions": [
867
+ 1.4790925979614258
868
+ ],
869
+ "cam_pose": [
870
+ -2.7782504558563232,
871
+ -0.6704502105712891,
872
+ 0.2559416592121124
873
+ ],
874
+ "cam_distance": 2.8694396018981934
875
+ },
876
+ {
877
+ "frame": 51,
878
+ "take": 7,
879
+ "manipulation_level": 1,
880
+ "active_joints": [
881
+ 0
882
+ ],
883
+ "joint_positions": [
884
+ 1.5086743831634521
885
+ ],
886
+ "cam_pose": [
887
+ -2.7782504558563232,
888
+ -0.6704502105712891,
889
+ 0.2559416592121124
890
+ ],
891
+ "cam_distance": 2.8694396018981934
892
+ },
893
+ {
894
+ "frame": 52,
895
+ "take": 7,
896
+ "manipulation_level": 1,
897
+ "active_joints": [
898
+ 0
899
+ ],
900
+ "joint_positions": [
901
+ 1.538256287574768
902
+ ],
903
+ "cam_pose": [
904
+ -2.7782504558563232,
905
+ -0.6704502105712891,
906
+ 0.2559416592121124
907
+ ],
908
+ "cam_distance": 2.8694396018981934
909
+ },
910
+ {
911
+ "frame": 53,
912
+ "take": 7,
913
+ "manipulation_level": 1,
914
+ "active_joints": [
915
+ 0
916
+ ],
917
+ "joint_positions": [
918
+ 1.567838191986084
919
+ ],
920
+ "cam_pose": [
921
+ -2.7782504558563232,
922
+ -0.6704502105712891,
923
+ 0.2559416592121124
924
+ ],
925
+ "cam_distance": 2.8694396018981934
926
+ },
927
+ {
928
+ "frame": 54,
929
+ "take": 7,
930
+ "manipulation_level": 1,
931
+ "active_joints": [
932
+ 0
933
+ ],
934
+ "joint_positions": [
935
+ 1.5974199771881104
936
+ ],
937
+ "cam_pose": [
938
+ -2.7782504558563232,
939
+ -0.6704502105712891,
940
+ 0.2559416592121124
941
+ ],
942
+ "cam_distance": 2.8694396018981934
943
+ },
944
+ {
945
+ "frame": 55,
946
+ "take": 7,
947
+ "manipulation_level": 1,
948
+ "active_joints": [
949
+ 0
950
+ ],
951
+ "joint_positions": [
952
+ 1.6270018815994263
953
+ ],
954
+ "cam_pose": [
955
+ -2.7782504558563232,
956
+ -0.6704502105712891,
957
+ 0.2559416592121124
958
+ ],
959
+ "cam_distance": 2.8694396018981934
960
+ },
961
+ {
962
+ "frame": 56,
963
+ "take": 7,
964
+ "manipulation_level": 1,
965
+ "active_joints": [
966
+ 0
967
+ ],
968
+ "joint_positions": [
969
+ 1.6565836668014526
970
+ ],
971
+ "cam_pose": [
972
+ -2.7782504558563232,
973
+ -0.6704502105712891,
974
+ 0.2559416592121124
975
+ ],
976
+ "cam_distance": 2.8694396018981934
977
+ },
978
+ {
979
+ "frame": 57,
980
+ "take": 7,
981
+ "manipulation_level": 1,
982
+ "active_joints": [
983
+ 0
984
+ ],
985
+ "joint_positions": [
986
+ 1.6861655712127686
987
+ ],
988
+ "cam_pose": [
989
+ -2.7782504558563232,
990
+ -0.6704502105712891,
991
+ 0.2559416592121124
992
+ ],
993
+ "cam_distance": 2.8694396018981934
994
+ },
995
+ {
996
+ "frame": 58,
997
+ "take": 7,
998
+ "manipulation_level": 1,
999
+ "active_joints": [
1000
+ 0
1001
+ ],
1002
+ "joint_positions": [
1003
+ 1.715747356414795
1004
+ ],
1005
+ "cam_pose": [
1006
+ -2.7782504558563232,
1007
+ -0.6704502105712891,
1008
+ 0.2559416592121124
1009
+ ],
1010
+ "cam_distance": 2.8694396018981934
1011
+ },
1012
+ {
1013
+ "frame": 59,
1014
+ "take": 7,
1015
+ "manipulation_level": 1,
1016
+ "active_joints": [
1017
+ 0
1018
+ ],
1019
+ "joint_positions": [
1020
+ 1.7453292608261108
1021
+ ],
1022
+ "cam_pose": [
1023
+ -2.7782504558563232,
1024
+ -0.6704502105712891,
1025
+ 0.2559416592121124
1026
+ ],
1027
+ "cam_distance": 2.8694396018981934
1028
+ }
1029
+ ]
1030
+ }
manipulation_1/38516/take_08/metadata.json ADDED
@@ -0,0 +1,1030 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object_id": "38516",
3
+ "manipulation_level": 1,
4
+ "active_joints": [
5
+ 0
6
+ ],
7
+ "total_joints": 1,
8
+ "frames": [
9
+ {
10
+ "frame": 0,
11
+ "take": 8,
12
+ "manipulation_level": 1,
13
+ "active_joints": [
14
+ 0
15
+ ],
16
+ "joint_positions": [
17
+ 0.0
18
+ ],
19
+ "cam_pose": [
20
+ -2.5754802227020264,
21
+ 0.5388809442520142,
22
+ 0.9009706974029541
23
+ ],
24
+ "cam_distance": 2.7812294960021973
25
+ },
26
+ {
27
+ "frame": 1,
28
+ "take": 8,
29
+ "manipulation_level": 1,
30
+ "active_joints": [
31
+ 0
32
+ ],
33
+ "joint_positions": [
34
+ 0.02958185225725174
35
+ ],
36
+ "cam_pose": [
37
+ -2.5754802227020264,
38
+ 0.5388809442520142,
39
+ 0.9009706974029541
40
+ ],
41
+ "cam_distance": 2.7812294960021973
42
+ },
43
+ {
44
+ "frame": 2,
45
+ "take": 8,
46
+ "manipulation_level": 1,
47
+ "active_joints": [
48
+ 0
49
+ ],
50
+ "joint_positions": [
51
+ 0.05916370451450348
52
+ ],
53
+ "cam_pose": [
54
+ -2.5754802227020264,
55
+ 0.5388809442520142,
56
+ 0.9009706974029541
57
+ ],
58
+ "cam_distance": 2.7812294960021973
59
+ },
60
+ {
61
+ "frame": 3,
62
+ "take": 8,
63
+ "manipulation_level": 1,
64
+ "active_joints": [
65
+ 0
66
+ ],
67
+ "joint_positions": [
68
+ 0.08874555677175522
69
+ ],
70
+ "cam_pose": [
71
+ -2.5754802227020264,
72
+ 0.5388809442520142,
73
+ 0.9009706974029541
74
+ ],
75
+ "cam_distance": 2.7812294960021973
76
+ },
77
+ {
78
+ "frame": 4,
79
+ "take": 8,
80
+ "manipulation_level": 1,
81
+ "active_joints": [
82
+ 0
83
+ ],
84
+ "joint_positions": [
85
+ 0.11832740902900696
86
+ ],
87
+ "cam_pose": [
88
+ -2.5754802227020264,
89
+ 0.5388809442520142,
90
+ 0.9009706974029541
91
+ ],
92
+ "cam_distance": 2.7812294960021973
93
+ },
94
+ {
95
+ "frame": 5,
96
+ "take": 8,
97
+ "manipulation_level": 1,
98
+ "active_joints": [
99
+ 0
100
+ ],
101
+ "joint_positions": [
102
+ 0.1479092538356781
103
+ ],
104
+ "cam_pose": [
105
+ -2.5754802227020264,
106
+ 0.5388809442520142,
107
+ 0.9009706974029541
108
+ ],
109
+ "cam_distance": 2.7812294960021973
110
+ },
111
+ {
112
+ "frame": 6,
113
+ "take": 8,
114
+ "manipulation_level": 1,
115
+ "active_joints": [
116
+ 0
117
+ ],
118
+ "joint_positions": [
119
+ 0.17749111354351044
120
+ ],
121
+ "cam_pose": [
122
+ -2.5754802227020264,
123
+ 0.5388809442520142,
124
+ 0.9009706974029541
125
+ ],
126
+ "cam_distance": 2.7812294960021973
127
+ },
128
+ {
129
+ "frame": 7,
130
+ "take": 8,
131
+ "manipulation_level": 1,
132
+ "active_joints": [
133
+ 0
134
+ ],
135
+ "joint_positions": [
136
+ 0.20707295835018158
137
+ ],
138
+ "cam_pose": [
139
+ -2.5754802227020264,
140
+ 0.5388809442520142,
141
+ 0.9009706974029541
142
+ ],
143
+ "cam_distance": 2.7812294960021973
144
+ },
145
+ {
146
+ "frame": 8,
147
+ "take": 8,
148
+ "manipulation_level": 1,
149
+ "active_joints": [
150
+ 0
151
+ ],
152
+ "joint_positions": [
153
+ 0.23665481805801392
154
+ ],
155
+ "cam_pose": [
156
+ -2.5754802227020264,
157
+ 0.5388809442520142,
158
+ 0.9009706974029541
159
+ ],
160
+ "cam_distance": 2.7812294960021973
161
+ },
162
+ {
163
+ "frame": 9,
164
+ "take": 8,
165
+ "manipulation_level": 1,
166
+ "active_joints": [
167
+ 0
168
+ ],
169
+ "joint_positions": [
170
+ 0.26623666286468506
171
+ ],
172
+ "cam_pose": [
173
+ -2.5754802227020264,
174
+ 0.5388809442520142,
175
+ 0.9009706974029541
176
+ ],
177
+ "cam_distance": 2.7812294960021973
178
+ },
179
+ {
180
+ "frame": 10,
181
+ "take": 8,
182
+ "manipulation_level": 1,
183
+ "active_joints": [
184
+ 0
185
+ ],
186
+ "joint_positions": [
187
+ 0.2958185076713562
188
+ ],
189
+ "cam_pose": [
190
+ -2.5754802227020264,
191
+ 0.5388809442520142,
192
+ 0.9009706974029541
193
+ ],
194
+ "cam_distance": 2.7812294960021973
195
+ },
196
+ {
197
+ "frame": 11,
198
+ "take": 8,
199
+ "manipulation_level": 1,
200
+ "active_joints": [
201
+ 0
202
+ ],
203
+ "joint_positions": [
204
+ 0.32540038228034973
205
+ ],
206
+ "cam_pose": [
207
+ -2.5754802227020264,
208
+ 0.5388809442520142,
209
+ 0.9009706974029541
210
+ ],
211
+ "cam_distance": 2.7812294960021973
212
+ },
213
+ {
214
+ "frame": 12,
215
+ "take": 8,
216
+ "manipulation_level": 1,
217
+ "active_joints": [
218
+ 0
219
+ ],
220
+ "joint_positions": [
221
+ 0.3549822270870209
222
+ ],
223
+ "cam_pose": [
224
+ -2.5754802227020264,
225
+ 0.5388809442520142,
226
+ 0.9009706974029541
227
+ ],
228
+ "cam_distance": 2.7812294960021973
229
+ },
230
+ {
231
+ "frame": 13,
232
+ "take": 8,
233
+ "manipulation_level": 1,
234
+ "active_joints": [
235
+ 0
236
+ ],
237
+ "joint_positions": [
238
+ 0.384564071893692
239
+ ],
240
+ "cam_pose": [
241
+ -2.5754802227020264,
242
+ 0.5388809442520142,
243
+ 0.9009706974029541
244
+ ],
245
+ "cam_distance": 2.7812294960021973
246
+ },
247
+ {
248
+ "frame": 14,
249
+ "take": 8,
250
+ "manipulation_level": 1,
251
+ "active_joints": [
252
+ 0
253
+ ],
254
+ "joint_positions": [
255
+ 0.41414591670036316
256
+ ],
257
+ "cam_pose": [
258
+ -2.5754802227020264,
259
+ 0.5388809442520142,
260
+ 0.9009706974029541
261
+ ],
262
+ "cam_distance": 2.7812294960021973
263
+ },
264
+ {
265
+ "frame": 15,
266
+ "take": 8,
267
+ "manipulation_level": 1,
268
+ "active_joints": [
269
+ 0
270
+ ],
271
+ "joint_positions": [
272
+ 0.4437277615070343
273
+ ],
274
+ "cam_pose": [
275
+ -2.5754802227020264,
276
+ 0.5388809442520142,
277
+ 0.9009706974029541
278
+ ],
279
+ "cam_distance": 2.7812294960021973
280
+ },
281
+ {
282
+ "frame": 16,
283
+ "take": 8,
284
+ "manipulation_level": 1,
285
+ "active_joints": [
286
+ 0
287
+ ],
288
+ "joint_positions": [
289
+ 0.47330963611602783
290
+ ],
291
+ "cam_pose": [
292
+ -2.5754802227020264,
293
+ 0.5388809442520142,
294
+ 0.9009706974029541
295
+ ],
296
+ "cam_distance": 2.7812294960021973
297
+ },
298
+ {
299
+ "frame": 17,
300
+ "take": 8,
301
+ "manipulation_level": 1,
302
+ "active_joints": [
303
+ 0
304
+ ],
305
+ "joint_positions": [
306
+ 0.502891480922699
307
+ ],
308
+ "cam_pose": [
309
+ -2.5754802227020264,
310
+ 0.5388809442520142,
311
+ 0.9009706974029541
312
+ ],
313
+ "cam_distance": 2.7812294960021973
314
+ },
315
+ {
316
+ "frame": 18,
317
+ "take": 8,
318
+ "manipulation_level": 1,
319
+ "active_joints": [
320
+ 0
321
+ ],
322
+ "joint_positions": [
323
+ 0.5324733257293701
324
+ ],
325
+ "cam_pose": [
326
+ -2.5754802227020264,
327
+ 0.5388809442520142,
328
+ 0.9009706974029541
329
+ ],
330
+ "cam_distance": 2.7812294960021973
331
+ },
332
+ {
333
+ "frame": 19,
334
+ "take": 8,
335
+ "manipulation_level": 1,
336
+ "active_joints": [
337
+ 0
338
+ ],
339
+ "joint_positions": [
340
+ 0.5620551705360413
341
+ ],
342
+ "cam_pose": [
343
+ -2.5754802227020264,
344
+ 0.5388809442520142,
345
+ 0.9009706974029541
346
+ ],
347
+ "cam_distance": 2.7812294960021973
348
+ },
349
+ {
350
+ "frame": 20,
351
+ "take": 8,
352
+ "manipulation_level": 1,
353
+ "active_joints": [
354
+ 0
355
+ ],
356
+ "joint_positions": [
357
+ 0.5916370153427124
358
+ ],
359
+ "cam_pose": [
360
+ -2.5754802227020264,
361
+ 0.5388809442520142,
362
+ 0.9009706974029541
363
+ ],
364
+ "cam_distance": 2.7812294960021973
365
+ },
366
+ {
367
+ "frame": 21,
368
+ "take": 8,
369
+ "manipulation_level": 1,
370
+ "active_joints": [
371
+ 0
372
+ ],
373
+ "joint_positions": [
374
+ 0.6212188601493835
375
+ ],
376
+ "cam_pose": [
377
+ -2.5754802227020264,
378
+ 0.5388809442520142,
379
+ 0.9009706974029541
380
+ ],
381
+ "cam_distance": 2.7812294960021973
382
+ },
383
+ {
384
+ "frame": 22,
385
+ "take": 8,
386
+ "manipulation_level": 1,
387
+ "active_joints": [
388
+ 0
389
+ ],
390
+ "joint_positions": [
391
+ 0.6508007645606995
392
+ ],
393
+ "cam_pose": [
394
+ -2.5754802227020264,
395
+ 0.5388809442520142,
396
+ 0.9009706974029541
397
+ ],
398
+ "cam_distance": 2.7812294960021973
399
+ },
400
+ {
401
+ "frame": 23,
402
+ "take": 8,
403
+ "manipulation_level": 1,
404
+ "active_joints": [
405
+ 0
406
+ ],
407
+ "joint_positions": [
408
+ 0.6803826093673706
409
+ ],
410
+ "cam_pose": [
411
+ -2.5754802227020264,
412
+ 0.5388809442520142,
413
+ 0.9009706974029541
414
+ ],
415
+ "cam_distance": 2.7812294960021973
416
+ },
417
+ {
418
+ "frame": 24,
419
+ "take": 8,
420
+ "manipulation_level": 1,
421
+ "active_joints": [
422
+ 0
423
+ ],
424
+ "joint_positions": [
425
+ 0.7099644541740417
426
+ ],
427
+ "cam_pose": [
428
+ -2.5754802227020264,
429
+ 0.5388809442520142,
430
+ 0.9009706974029541
431
+ ],
432
+ "cam_distance": 2.7812294960021973
433
+ },
434
+ {
435
+ "frame": 25,
436
+ "take": 8,
437
+ "manipulation_level": 1,
438
+ "active_joints": [
439
+ 0
440
+ ],
441
+ "joint_positions": [
442
+ 0.7395462989807129
443
+ ],
444
+ "cam_pose": [
445
+ -2.5754802227020264,
446
+ 0.5388809442520142,
447
+ 0.9009706974029541
448
+ ],
449
+ "cam_distance": 2.7812294960021973
450
+ },
451
+ {
452
+ "frame": 26,
453
+ "take": 8,
454
+ "manipulation_level": 1,
455
+ "active_joints": [
456
+ 0
457
+ ],
458
+ "joint_positions": [
459
+ 0.769128143787384
460
+ ],
461
+ "cam_pose": [
462
+ -2.5754802227020264,
463
+ 0.5388809442520142,
464
+ 0.9009706974029541
465
+ ],
466
+ "cam_distance": 2.7812294960021973
467
+ },
468
+ {
469
+ "frame": 27,
470
+ "take": 8,
471
+ "manipulation_level": 1,
472
+ "active_joints": [
473
+ 0
474
+ ],
475
+ "joint_positions": [
476
+ 0.7987099885940552
477
+ ],
478
+ "cam_pose": [
479
+ -2.5754802227020264,
480
+ 0.5388809442520142,
481
+ 0.9009706974029541
482
+ ],
483
+ "cam_distance": 2.7812294960021973
484
+ },
485
+ {
486
+ "frame": 28,
487
+ "take": 8,
488
+ "manipulation_level": 1,
489
+ "active_joints": [
490
+ 0
491
+ ],
492
+ "joint_positions": [
493
+ 0.8282918334007263
494
+ ],
495
+ "cam_pose": [
496
+ -2.5754802227020264,
497
+ 0.5388809442520142,
498
+ 0.9009706974029541
499
+ ],
500
+ "cam_distance": 2.7812294960021973
501
+ },
502
+ {
503
+ "frame": 29,
504
+ "take": 8,
505
+ "manipulation_level": 1,
506
+ "active_joints": [
507
+ 0
508
+ ],
509
+ "joint_positions": [
510
+ 0.8578736782073975
511
+ ],
512
+ "cam_pose": [
513
+ -2.5754802227020264,
514
+ 0.5388809442520142,
515
+ 0.9009706974029541
516
+ ],
517
+ "cam_distance": 2.7812294960021973
518
+ },
519
+ {
520
+ "frame": 30,
521
+ "take": 8,
522
+ "manipulation_level": 1,
523
+ "active_joints": [
524
+ 0
525
+ ],
526
+ "joint_positions": [
527
+ 0.8874555230140686
528
+ ],
529
+ "cam_pose": [
530
+ -2.5754802227020264,
531
+ 0.5388809442520142,
532
+ 0.9009706974029541
533
+ ],
534
+ "cam_distance": 2.7812294960021973
535
+ },
536
+ {
537
+ "frame": 31,
538
+ "take": 8,
539
+ "manipulation_level": 1,
540
+ "active_joints": [
541
+ 0
542
+ ],
543
+ "joint_positions": [
544
+ 0.9170374274253845
545
+ ],
546
+ "cam_pose": [
547
+ -2.5754802227020264,
548
+ 0.5388809442520142,
549
+ 0.9009706974029541
550
+ ],
551
+ "cam_distance": 2.7812294960021973
552
+ },
553
+ {
554
+ "frame": 32,
555
+ "take": 8,
556
+ "manipulation_level": 1,
557
+ "active_joints": [
558
+ 0
559
+ ],
560
+ "joint_positions": [
561
+ 0.9466192722320557
562
+ ],
563
+ "cam_pose": [
564
+ -2.5754802227020264,
565
+ 0.5388809442520142,
566
+ 0.9009706974029541
567
+ ],
568
+ "cam_distance": 2.7812294960021973
569
+ },
570
+ {
571
+ "frame": 33,
572
+ "take": 8,
573
+ "manipulation_level": 1,
574
+ "active_joints": [
575
+ 0
576
+ ],
577
+ "joint_positions": [
578
+ 0.9762011170387268
579
+ ],
580
+ "cam_pose": [
581
+ -2.5754802227020264,
582
+ 0.5388809442520142,
583
+ 0.9009706974029541
584
+ ],
585
+ "cam_distance": 2.7812294960021973
586
+ },
587
+ {
588
+ "frame": 34,
589
+ "take": 8,
590
+ "manipulation_level": 1,
591
+ "active_joints": [
592
+ 0
593
+ ],
594
+ "joint_positions": [
595
+ 1.005782961845398
596
+ ],
597
+ "cam_pose": [
598
+ -2.5754802227020264,
599
+ 0.5388809442520142,
600
+ 0.9009706974029541
601
+ ],
602
+ "cam_distance": 2.7812294960021973
603
+ },
604
+ {
605
+ "frame": 35,
606
+ "take": 8,
607
+ "manipulation_level": 1,
608
+ "active_joints": [
609
+ 0
610
+ ],
611
+ "joint_positions": [
612
+ 1.0353648662567139
613
+ ],
614
+ "cam_pose": [
615
+ -2.5754802227020264,
616
+ 0.5388809442520142,
617
+ 0.9009706974029541
618
+ ],
619
+ "cam_distance": 2.7812294960021973
620
+ },
621
+ {
622
+ "frame": 36,
623
+ "take": 8,
624
+ "manipulation_level": 1,
625
+ "active_joints": [
626
+ 0
627
+ ],
628
+ "joint_positions": [
629
+ 1.0649466514587402
630
+ ],
631
+ "cam_pose": [
632
+ -2.5754802227020264,
633
+ 0.5388809442520142,
634
+ 0.9009706974029541
635
+ ],
636
+ "cam_distance": 2.7812294960021973
637
+ },
638
+ {
639
+ "frame": 37,
640
+ "take": 8,
641
+ "manipulation_level": 1,
642
+ "active_joints": [
643
+ 0
644
+ ],
645
+ "joint_positions": [
646
+ 1.0945285558700562
647
+ ],
648
+ "cam_pose": [
649
+ -2.5754802227020264,
650
+ 0.5388809442520142,
651
+ 0.9009706974029541
652
+ ],
653
+ "cam_distance": 2.7812294960021973
654
+ },
655
+ {
656
+ "frame": 38,
657
+ "take": 8,
658
+ "manipulation_level": 1,
659
+ "active_joints": [
660
+ 0
661
+ ],
662
+ "joint_positions": [
663
+ 1.1241103410720825
664
+ ],
665
+ "cam_pose": [
666
+ -2.5754802227020264,
667
+ 0.5388809442520142,
668
+ 0.9009706974029541
669
+ ],
670
+ "cam_distance": 2.7812294960021973
671
+ },
672
+ {
673
+ "frame": 39,
674
+ "take": 8,
675
+ "manipulation_level": 1,
676
+ "active_joints": [
677
+ 0
678
+ ],
679
+ "joint_positions": [
680
+ 1.1536922454833984
681
+ ],
682
+ "cam_pose": [
683
+ -2.5754802227020264,
684
+ 0.5388809442520142,
685
+ 0.9009706974029541
686
+ ],
687
+ "cam_distance": 2.7812294960021973
688
+ },
689
+ {
690
+ "frame": 40,
691
+ "take": 8,
692
+ "manipulation_level": 1,
693
+ "active_joints": [
694
+ 0
695
+ ],
696
+ "joint_positions": [
697
+ 1.1832740306854248
698
+ ],
699
+ "cam_pose": [
700
+ -2.5754802227020264,
701
+ 0.5388809442520142,
702
+ 0.9009706974029541
703
+ ],
704
+ "cam_distance": 2.7812294960021973
705
+ },
706
+ {
707
+ "frame": 41,
708
+ "take": 8,
709
+ "manipulation_level": 1,
710
+ "active_joints": [
711
+ 0
712
+ ],
713
+ "joint_positions": [
714
+ 1.2128559350967407
715
+ ],
716
+ "cam_pose": [
717
+ -2.5754802227020264,
718
+ 0.5388809442520142,
719
+ 0.9009706974029541
720
+ ],
721
+ "cam_distance": 2.7812294960021973
722
+ },
723
+ {
724
+ "frame": 42,
725
+ "take": 8,
726
+ "manipulation_level": 1,
727
+ "active_joints": [
728
+ 0
729
+ ],
730
+ "joint_positions": [
731
+ 1.242437720298767
732
+ ],
733
+ "cam_pose": [
734
+ -2.5754802227020264,
735
+ 0.5388809442520142,
736
+ 0.9009706974029541
737
+ ],
738
+ "cam_distance": 2.7812294960021973
739
+ },
740
+ {
741
+ "frame": 43,
742
+ "take": 8,
743
+ "manipulation_level": 1,
744
+ "active_joints": [
745
+ 0
746
+ ],
747
+ "joint_positions": [
748
+ 1.272019624710083
749
+ ],
750
+ "cam_pose": [
751
+ -2.5754802227020264,
752
+ 0.5388809442520142,
753
+ 0.9009706974029541
754
+ ],
755
+ "cam_distance": 2.7812294960021973
756
+ },
757
+ {
758
+ "frame": 44,
759
+ "take": 8,
760
+ "manipulation_level": 1,
761
+ "active_joints": [
762
+ 0
763
+ ],
764
+ "joint_positions": [
765
+ 1.301601529121399
766
+ ],
767
+ "cam_pose": [
768
+ -2.5754802227020264,
769
+ 0.5388809442520142,
770
+ 0.9009706974029541
771
+ ],
772
+ "cam_distance": 2.7812294960021973
773
+ },
774
+ {
775
+ "frame": 45,
776
+ "take": 8,
777
+ "manipulation_level": 1,
778
+ "active_joints": [
779
+ 0
780
+ ],
781
+ "joint_positions": [
782
+ 1.3311833143234253
783
+ ],
784
+ "cam_pose": [
785
+ -2.5754802227020264,
786
+ 0.5388809442520142,
787
+ 0.9009706974029541
788
+ ],
789
+ "cam_distance": 2.7812294960021973
790
+ },
791
+ {
792
+ "frame": 46,
793
+ "take": 8,
794
+ "manipulation_level": 1,
795
+ "active_joints": [
796
+ 0
797
+ ],
798
+ "joint_positions": [
799
+ 1.3607652187347412
800
+ ],
801
+ "cam_pose": [
802
+ -2.5754802227020264,
803
+ 0.5388809442520142,
804
+ 0.9009706974029541
805
+ ],
806
+ "cam_distance": 2.7812294960021973
807
+ },
808
+ {
809
+ "frame": 47,
810
+ "take": 8,
811
+ "manipulation_level": 1,
812
+ "active_joints": [
813
+ 0
814
+ ],
815
+ "joint_positions": [
816
+ 1.3903470039367676
817
+ ],
818
+ "cam_pose": [
819
+ -2.5754802227020264,
820
+ 0.5388809442520142,
821
+ 0.9009706974029541
822
+ ],
823
+ "cam_distance": 2.7812294960021973
824
+ },
825
+ {
826
+ "frame": 48,
827
+ "take": 8,
828
+ "manipulation_level": 1,
829
+ "active_joints": [
830
+ 0
831
+ ],
832
+ "joint_positions": [
833
+ 1.4199289083480835
834
+ ],
835
+ "cam_pose": [
836
+ -2.5754802227020264,
837
+ 0.5388809442520142,
838
+ 0.9009706974029541
839
+ ],
840
+ "cam_distance": 2.7812294960021973
841
+ },
842
+ {
843
+ "frame": 49,
844
+ "take": 8,
845
+ "manipulation_level": 1,
846
+ "active_joints": [
847
+ 0
848
+ ],
849
+ "joint_positions": [
850
+ 1.4495106935501099
851
+ ],
852
+ "cam_pose": [
853
+ -2.5754802227020264,
854
+ 0.5388809442520142,
855
+ 0.9009706974029541
856
+ ],
857
+ "cam_distance": 2.7812294960021973
858
+ },
859
+ {
860
+ "frame": 50,
861
+ "take": 8,
862
+ "manipulation_level": 1,
863
+ "active_joints": [
864
+ 0
865
+ ],
866
+ "joint_positions": [
867
+ 1.4790925979614258
868
+ ],
869
+ "cam_pose": [
870
+ -2.5754802227020264,
871
+ 0.5388809442520142,
872
+ 0.9009706974029541
873
+ ],
874
+ "cam_distance": 2.7812294960021973
875
+ },
876
+ {
877
+ "frame": 51,
878
+ "take": 8,
879
+ "manipulation_level": 1,
880
+ "active_joints": [
881
+ 0
882
+ ],
883
+ "joint_positions": [
884
+ 1.5086743831634521
885
+ ],
886
+ "cam_pose": [
887
+ -2.5754802227020264,
888
+ 0.5388809442520142,
889
+ 0.9009706974029541
890
+ ],
891
+ "cam_distance": 2.7812294960021973
892
+ },
893
+ {
894
+ "frame": 52,
895
+ "take": 8,
896
+ "manipulation_level": 1,
897
+ "active_joints": [
898
+ 0
899
+ ],
900
+ "joint_positions": [
901
+ 1.538256287574768
902
+ ],
903
+ "cam_pose": [
904
+ -2.5754802227020264,
905
+ 0.5388809442520142,
906
+ 0.9009706974029541
907
+ ],
908
+ "cam_distance": 2.7812294960021973
909
+ },
910
+ {
911
+ "frame": 53,
912
+ "take": 8,
913
+ "manipulation_level": 1,
914
+ "active_joints": [
915
+ 0
916
+ ],
917
+ "joint_positions": [
918
+ 1.567838191986084
919
+ ],
920
+ "cam_pose": [
921
+ -2.5754802227020264,
922
+ 0.5388809442520142,
923
+ 0.9009706974029541
924
+ ],
925
+ "cam_distance": 2.7812294960021973
926
+ },
927
+ {
928
+ "frame": 54,
929
+ "take": 8,
930
+ "manipulation_level": 1,
931
+ "active_joints": [
932
+ 0
933
+ ],
934
+ "joint_positions": [
935
+ 1.5974199771881104
936
+ ],
937
+ "cam_pose": [
938
+ -2.5754802227020264,
939
+ 0.5388809442520142,
940
+ 0.9009706974029541
941
+ ],
942
+ "cam_distance": 2.7812294960021973
943
+ },
944
+ {
945
+ "frame": 55,
946
+ "take": 8,
947
+ "manipulation_level": 1,
948
+ "active_joints": [
949
+ 0
950
+ ],
951
+ "joint_positions": [
952
+ 1.6270018815994263
953
+ ],
954
+ "cam_pose": [
955
+ -2.5754802227020264,
956
+ 0.5388809442520142,
957
+ 0.9009706974029541
958
+ ],
959
+ "cam_distance": 2.7812294960021973
960
+ },
961
+ {
962
+ "frame": 56,
963
+ "take": 8,
964
+ "manipulation_level": 1,
965
+ "active_joints": [
966
+ 0
967
+ ],
968
+ "joint_positions": [
969
+ 1.6565836668014526
970
+ ],
971
+ "cam_pose": [
972
+ -2.5754802227020264,
973
+ 0.5388809442520142,
974
+ 0.9009706974029541
975
+ ],
976
+ "cam_distance": 2.7812294960021973
977
+ },
978
+ {
979
+ "frame": 57,
980
+ "take": 8,
981
+ "manipulation_level": 1,
982
+ "active_joints": [
983
+ 0
984
+ ],
985
+ "joint_positions": [
986
+ 1.6861655712127686
987
+ ],
988
+ "cam_pose": [
989
+ -2.5754802227020264,
990
+ 0.5388809442520142,
991
+ 0.9009706974029541
992
+ ],
993
+ "cam_distance": 2.7812294960021973
994
+ },
995
+ {
996
+ "frame": 58,
997
+ "take": 8,
998
+ "manipulation_level": 1,
999
+ "active_joints": [
1000
+ 0
1001
+ ],
1002
+ "joint_positions": [
1003
+ 1.715747356414795
1004
+ ],
1005
+ "cam_pose": [
1006
+ -2.5754802227020264,
1007
+ 0.5388809442520142,
1008
+ 0.9009706974029541
1009
+ ],
1010
+ "cam_distance": 2.7812294960021973
1011
+ },
1012
+ {
1013
+ "frame": 59,
1014
+ "take": 8,
1015
+ "manipulation_level": 1,
1016
+ "active_joints": [
1017
+ 0
1018
+ ],
1019
+ "joint_positions": [
1020
+ 1.7453292608261108
1021
+ ],
1022
+ "cam_pose": [
1023
+ -2.5754802227020264,
1024
+ 0.5388809442520142,
1025
+ 0.9009706974029541
1026
+ ],
1027
+ "cam_distance": 2.7812294960021973
1028
+ }
1029
+ ]
1030
+ }
manipulation_1/38516/take_09/metadata.json ADDED
@@ -0,0 +1,1030 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object_id": "38516",
3
+ "manipulation_level": 1,
4
+ "active_joints": [
5
+ 0
6
+ ],
7
+ "total_joints": 1,
8
+ "frames": [
9
+ {
10
+ "frame": 0,
11
+ "take": 9,
12
+ "manipulation_level": 1,
13
+ "active_joints": [
14
+ 0
15
+ ],
16
+ "joint_positions": [
17
+ 0.0
18
+ ],
19
+ "cam_pose": [
20
+ -2.4005093574523926,
21
+ -0.5306130051612854,
22
+ 0.6273472309112549
23
+ ],
24
+ "cam_distance": 2.5372345447540283
25
+ },
26
+ {
27
+ "frame": 1,
28
+ "take": 9,
29
+ "manipulation_level": 1,
30
+ "active_joints": [
31
+ 0
32
+ ],
33
+ "joint_positions": [
34
+ 0.02958185225725174
35
+ ],
36
+ "cam_pose": [
37
+ -2.4005093574523926,
38
+ -0.5306130051612854,
39
+ 0.6273472309112549
40
+ ],
41
+ "cam_distance": 2.5372345447540283
42
+ },
43
+ {
44
+ "frame": 2,
45
+ "take": 9,
46
+ "manipulation_level": 1,
47
+ "active_joints": [
48
+ 0
49
+ ],
50
+ "joint_positions": [
51
+ 0.05916370451450348
52
+ ],
53
+ "cam_pose": [
54
+ -2.4005093574523926,
55
+ -0.5306130051612854,
56
+ 0.6273472309112549
57
+ ],
58
+ "cam_distance": 2.5372345447540283
59
+ },
60
+ {
61
+ "frame": 3,
62
+ "take": 9,
63
+ "manipulation_level": 1,
64
+ "active_joints": [
65
+ 0
66
+ ],
67
+ "joint_positions": [
68
+ 0.08874555677175522
69
+ ],
70
+ "cam_pose": [
71
+ -2.4005093574523926,
72
+ -0.5306130051612854,
73
+ 0.6273472309112549
74
+ ],
75
+ "cam_distance": 2.5372345447540283
76
+ },
77
+ {
78
+ "frame": 4,
79
+ "take": 9,
80
+ "manipulation_level": 1,
81
+ "active_joints": [
82
+ 0
83
+ ],
84
+ "joint_positions": [
85
+ 0.11832740902900696
86
+ ],
87
+ "cam_pose": [
88
+ -2.4005093574523926,
89
+ -0.5306130051612854,
90
+ 0.6273472309112549
91
+ ],
92
+ "cam_distance": 2.5372345447540283
93
+ },
94
+ {
95
+ "frame": 5,
96
+ "take": 9,
97
+ "manipulation_level": 1,
98
+ "active_joints": [
99
+ 0
100
+ ],
101
+ "joint_positions": [
102
+ 0.1479092538356781
103
+ ],
104
+ "cam_pose": [
105
+ -2.4005093574523926,
106
+ -0.5306130051612854,
107
+ 0.6273472309112549
108
+ ],
109
+ "cam_distance": 2.5372345447540283
110
+ },
111
+ {
112
+ "frame": 6,
113
+ "take": 9,
114
+ "manipulation_level": 1,
115
+ "active_joints": [
116
+ 0
117
+ ],
118
+ "joint_positions": [
119
+ 0.17749111354351044
120
+ ],
121
+ "cam_pose": [
122
+ -2.4005093574523926,
123
+ -0.5306130051612854,
124
+ 0.6273472309112549
125
+ ],
126
+ "cam_distance": 2.5372345447540283
127
+ },
128
+ {
129
+ "frame": 7,
130
+ "take": 9,
131
+ "manipulation_level": 1,
132
+ "active_joints": [
133
+ 0
134
+ ],
135
+ "joint_positions": [
136
+ 0.20707295835018158
137
+ ],
138
+ "cam_pose": [
139
+ -2.4005093574523926,
140
+ -0.5306130051612854,
141
+ 0.6273472309112549
142
+ ],
143
+ "cam_distance": 2.5372345447540283
144
+ },
145
+ {
146
+ "frame": 8,
147
+ "take": 9,
148
+ "manipulation_level": 1,
149
+ "active_joints": [
150
+ 0
151
+ ],
152
+ "joint_positions": [
153
+ 0.23665481805801392
154
+ ],
155
+ "cam_pose": [
156
+ -2.4005093574523926,
157
+ -0.5306130051612854,
158
+ 0.6273472309112549
159
+ ],
160
+ "cam_distance": 2.5372345447540283
161
+ },
162
+ {
163
+ "frame": 9,
164
+ "take": 9,
165
+ "manipulation_level": 1,
166
+ "active_joints": [
167
+ 0
168
+ ],
169
+ "joint_positions": [
170
+ 0.26623666286468506
171
+ ],
172
+ "cam_pose": [
173
+ -2.4005093574523926,
174
+ -0.5306130051612854,
175
+ 0.6273472309112549
176
+ ],
177
+ "cam_distance": 2.5372345447540283
178
+ },
179
+ {
180
+ "frame": 10,
181
+ "take": 9,
182
+ "manipulation_level": 1,
183
+ "active_joints": [
184
+ 0
185
+ ],
186
+ "joint_positions": [
187
+ 0.2958185076713562
188
+ ],
189
+ "cam_pose": [
190
+ -2.4005093574523926,
191
+ -0.5306130051612854,
192
+ 0.6273472309112549
193
+ ],
194
+ "cam_distance": 2.5372345447540283
195
+ },
196
+ {
197
+ "frame": 11,
198
+ "take": 9,
199
+ "manipulation_level": 1,
200
+ "active_joints": [
201
+ 0
202
+ ],
203
+ "joint_positions": [
204
+ 0.32540038228034973
205
+ ],
206
+ "cam_pose": [
207
+ -2.4005093574523926,
208
+ -0.5306130051612854,
209
+ 0.6273472309112549
210
+ ],
211
+ "cam_distance": 2.5372345447540283
212
+ },
213
+ {
214
+ "frame": 12,
215
+ "take": 9,
216
+ "manipulation_level": 1,
217
+ "active_joints": [
218
+ 0
219
+ ],
220
+ "joint_positions": [
221
+ 0.3549822270870209
222
+ ],
223
+ "cam_pose": [
224
+ -2.4005093574523926,
225
+ -0.5306130051612854,
226
+ 0.6273472309112549
227
+ ],
228
+ "cam_distance": 2.5372345447540283
229
+ },
230
+ {
231
+ "frame": 13,
232
+ "take": 9,
233
+ "manipulation_level": 1,
234
+ "active_joints": [
235
+ 0
236
+ ],
237
+ "joint_positions": [
238
+ 0.384564071893692
239
+ ],
240
+ "cam_pose": [
241
+ -2.4005093574523926,
242
+ -0.5306130051612854,
243
+ 0.6273472309112549
244
+ ],
245
+ "cam_distance": 2.5372345447540283
246
+ },
247
+ {
248
+ "frame": 14,
249
+ "take": 9,
250
+ "manipulation_level": 1,
251
+ "active_joints": [
252
+ 0
253
+ ],
254
+ "joint_positions": [
255
+ 0.41414591670036316
256
+ ],
257
+ "cam_pose": [
258
+ -2.4005093574523926,
259
+ -0.5306130051612854,
260
+ 0.6273472309112549
261
+ ],
262
+ "cam_distance": 2.5372345447540283
263
+ },
264
+ {
265
+ "frame": 15,
266
+ "take": 9,
267
+ "manipulation_level": 1,
268
+ "active_joints": [
269
+ 0
270
+ ],
271
+ "joint_positions": [
272
+ 0.4437277615070343
273
+ ],
274
+ "cam_pose": [
275
+ -2.4005093574523926,
276
+ -0.5306130051612854,
277
+ 0.6273472309112549
278
+ ],
279
+ "cam_distance": 2.5372345447540283
280
+ },
281
+ {
282
+ "frame": 16,
283
+ "take": 9,
284
+ "manipulation_level": 1,
285
+ "active_joints": [
286
+ 0
287
+ ],
288
+ "joint_positions": [
289
+ 0.47330963611602783
290
+ ],
291
+ "cam_pose": [
292
+ -2.4005093574523926,
293
+ -0.5306130051612854,
294
+ 0.6273472309112549
295
+ ],
296
+ "cam_distance": 2.5372345447540283
297
+ },
298
+ {
299
+ "frame": 17,
300
+ "take": 9,
301
+ "manipulation_level": 1,
302
+ "active_joints": [
303
+ 0
304
+ ],
305
+ "joint_positions": [
306
+ 0.502891480922699
307
+ ],
308
+ "cam_pose": [
309
+ -2.4005093574523926,
310
+ -0.5306130051612854,
311
+ 0.6273472309112549
312
+ ],
313
+ "cam_distance": 2.5372345447540283
314
+ },
315
+ {
316
+ "frame": 18,
317
+ "take": 9,
318
+ "manipulation_level": 1,
319
+ "active_joints": [
320
+ 0
321
+ ],
322
+ "joint_positions": [
323
+ 0.5324733257293701
324
+ ],
325
+ "cam_pose": [
326
+ -2.4005093574523926,
327
+ -0.5306130051612854,
328
+ 0.6273472309112549
329
+ ],
330
+ "cam_distance": 2.5372345447540283
331
+ },
332
+ {
333
+ "frame": 19,
334
+ "take": 9,
335
+ "manipulation_level": 1,
336
+ "active_joints": [
337
+ 0
338
+ ],
339
+ "joint_positions": [
340
+ 0.5620551705360413
341
+ ],
342
+ "cam_pose": [
343
+ -2.4005093574523926,
344
+ -0.5306130051612854,
345
+ 0.6273472309112549
346
+ ],
347
+ "cam_distance": 2.5372345447540283
348
+ },
349
+ {
350
+ "frame": 20,
351
+ "take": 9,
352
+ "manipulation_level": 1,
353
+ "active_joints": [
354
+ 0
355
+ ],
356
+ "joint_positions": [
357
+ 0.5916370153427124
358
+ ],
359
+ "cam_pose": [
360
+ -2.4005093574523926,
361
+ -0.5306130051612854,
362
+ 0.6273472309112549
363
+ ],
364
+ "cam_distance": 2.5372345447540283
365
+ },
366
+ {
367
+ "frame": 21,
368
+ "take": 9,
369
+ "manipulation_level": 1,
370
+ "active_joints": [
371
+ 0
372
+ ],
373
+ "joint_positions": [
374
+ 0.6212188601493835
375
+ ],
376
+ "cam_pose": [
377
+ -2.4005093574523926,
378
+ -0.5306130051612854,
379
+ 0.6273472309112549
380
+ ],
381
+ "cam_distance": 2.5372345447540283
382
+ },
383
+ {
384
+ "frame": 22,
385
+ "take": 9,
386
+ "manipulation_level": 1,
387
+ "active_joints": [
388
+ 0
389
+ ],
390
+ "joint_positions": [
391
+ 0.6508007645606995
392
+ ],
393
+ "cam_pose": [
394
+ -2.4005093574523926,
395
+ -0.5306130051612854,
396
+ 0.6273472309112549
397
+ ],
398
+ "cam_distance": 2.5372345447540283
399
+ },
400
+ {
401
+ "frame": 23,
402
+ "take": 9,
403
+ "manipulation_level": 1,
404
+ "active_joints": [
405
+ 0
406
+ ],
407
+ "joint_positions": [
408
+ 0.6803826093673706
409
+ ],
410
+ "cam_pose": [
411
+ -2.4005093574523926,
412
+ -0.5306130051612854,
413
+ 0.6273472309112549
414
+ ],
415
+ "cam_distance": 2.5372345447540283
416
+ },
417
+ {
418
+ "frame": 24,
419
+ "take": 9,
420
+ "manipulation_level": 1,
421
+ "active_joints": [
422
+ 0
423
+ ],
424
+ "joint_positions": [
425
+ 0.7099644541740417
426
+ ],
427
+ "cam_pose": [
428
+ -2.4005093574523926,
429
+ -0.5306130051612854,
430
+ 0.6273472309112549
431
+ ],
432
+ "cam_distance": 2.5372345447540283
433
+ },
434
+ {
435
+ "frame": 25,
436
+ "take": 9,
437
+ "manipulation_level": 1,
438
+ "active_joints": [
439
+ 0
440
+ ],
441
+ "joint_positions": [
442
+ 0.7395462989807129
443
+ ],
444
+ "cam_pose": [
445
+ -2.4005093574523926,
446
+ -0.5306130051612854,
447
+ 0.6273472309112549
448
+ ],
449
+ "cam_distance": 2.5372345447540283
450
+ },
451
+ {
452
+ "frame": 26,
453
+ "take": 9,
454
+ "manipulation_level": 1,
455
+ "active_joints": [
456
+ 0
457
+ ],
458
+ "joint_positions": [
459
+ 0.769128143787384
460
+ ],
461
+ "cam_pose": [
462
+ -2.4005093574523926,
463
+ -0.5306130051612854,
464
+ 0.6273472309112549
465
+ ],
466
+ "cam_distance": 2.5372345447540283
467
+ },
468
+ {
469
+ "frame": 27,
470
+ "take": 9,
471
+ "manipulation_level": 1,
472
+ "active_joints": [
473
+ 0
474
+ ],
475
+ "joint_positions": [
476
+ 0.7987099885940552
477
+ ],
478
+ "cam_pose": [
479
+ -2.4005093574523926,
480
+ -0.5306130051612854,
481
+ 0.6273472309112549
482
+ ],
483
+ "cam_distance": 2.5372345447540283
484
+ },
485
+ {
486
+ "frame": 28,
487
+ "take": 9,
488
+ "manipulation_level": 1,
489
+ "active_joints": [
490
+ 0
491
+ ],
492
+ "joint_positions": [
493
+ 0.8282918334007263
494
+ ],
495
+ "cam_pose": [
496
+ -2.4005093574523926,
497
+ -0.5306130051612854,
498
+ 0.6273472309112549
499
+ ],
500
+ "cam_distance": 2.5372345447540283
501
+ },
502
+ {
503
+ "frame": 29,
504
+ "take": 9,
505
+ "manipulation_level": 1,
506
+ "active_joints": [
507
+ 0
508
+ ],
509
+ "joint_positions": [
510
+ 0.8578736782073975
511
+ ],
512
+ "cam_pose": [
513
+ -2.4005093574523926,
514
+ -0.5306130051612854,
515
+ 0.6273472309112549
516
+ ],
517
+ "cam_distance": 2.5372345447540283
518
+ },
519
+ {
520
+ "frame": 30,
521
+ "take": 9,
522
+ "manipulation_level": 1,
523
+ "active_joints": [
524
+ 0
525
+ ],
526
+ "joint_positions": [
527
+ 0.8874555230140686
528
+ ],
529
+ "cam_pose": [
530
+ -2.4005093574523926,
531
+ -0.5306130051612854,
532
+ 0.6273472309112549
533
+ ],
534
+ "cam_distance": 2.5372345447540283
535
+ },
536
+ {
537
+ "frame": 31,
538
+ "take": 9,
539
+ "manipulation_level": 1,
540
+ "active_joints": [
541
+ 0
542
+ ],
543
+ "joint_positions": [
544
+ 0.9170374274253845
545
+ ],
546
+ "cam_pose": [
547
+ -2.4005093574523926,
548
+ -0.5306130051612854,
549
+ 0.6273472309112549
550
+ ],
551
+ "cam_distance": 2.5372345447540283
552
+ },
553
+ {
554
+ "frame": 32,
555
+ "take": 9,
556
+ "manipulation_level": 1,
557
+ "active_joints": [
558
+ 0
559
+ ],
560
+ "joint_positions": [
561
+ 0.9466192722320557
562
+ ],
563
+ "cam_pose": [
564
+ -2.4005093574523926,
565
+ -0.5306130051612854,
566
+ 0.6273472309112549
567
+ ],
568
+ "cam_distance": 2.5372345447540283
569
+ },
570
+ {
571
+ "frame": 33,
572
+ "take": 9,
573
+ "manipulation_level": 1,
574
+ "active_joints": [
575
+ 0
576
+ ],
577
+ "joint_positions": [
578
+ 0.9762011170387268
579
+ ],
580
+ "cam_pose": [
581
+ -2.4005093574523926,
582
+ -0.5306130051612854,
583
+ 0.6273472309112549
584
+ ],
585
+ "cam_distance": 2.5372345447540283
586
+ },
587
+ {
588
+ "frame": 34,
589
+ "take": 9,
590
+ "manipulation_level": 1,
591
+ "active_joints": [
592
+ 0
593
+ ],
594
+ "joint_positions": [
595
+ 1.005782961845398
596
+ ],
597
+ "cam_pose": [
598
+ -2.4005093574523926,
599
+ -0.5306130051612854,
600
+ 0.6273472309112549
601
+ ],
602
+ "cam_distance": 2.5372345447540283
603
+ },
604
+ {
605
+ "frame": 35,
606
+ "take": 9,
607
+ "manipulation_level": 1,
608
+ "active_joints": [
609
+ 0
610
+ ],
611
+ "joint_positions": [
612
+ 1.0353648662567139
613
+ ],
614
+ "cam_pose": [
615
+ -2.4005093574523926,
616
+ -0.5306130051612854,
617
+ 0.6273472309112549
618
+ ],
619
+ "cam_distance": 2.5372345447540283
620
+ },
621
+ {
622
+ "frame": 36,
623
+ "take": 9,
624
+ "manipulation_level": 1,
625
+ "active_joints": [
626
+ 0
627
+ ],
628
+ "joint_positions": [
629
+ 1.0649466514587402
630
+ ],
631
+ "cam_pose": [
632
+ -2.4005093574523926,
633
+ -0.5306130051612854,
634
+ 0.6273472309112549
635
+ ],
636
+ "cam_distance": 2.5372345447540283
637
+ },
638
+ {
639
+ "frame": 37,
640
+ "take": 9,
641
+ "manipulation_level": 1,
642
+ "active_joints": [
643
+ 0
644
+ ],
645
+ "joint_positions": [
646
+ 1.0945285558700562
647
+ ],
648
+ "cam_pose": [
649
+ -2.4005093574523926,
650
+ -0.5306130051612854,
651
+ 0.6273472309112549
652
+ ],
653
+ "cam_distance": 2.5372345447540283
654
+ },
655
+ {
656
+ "frame": 38,
657
+ "take": 9,
658
+ "manipulation_level": 1,
659
+ "active_joints": [
660
+ 0
661
+ ],
662
+ "joint_positions": [
663
+ 1.1241103410720825
664
+ ],
665
+ "cam_pose": [
666
+ -2.4005093574523926,
667
+ -0.5306130051612854,
668
+ 0.6273472309112549
669
+ ],
670
+ "cam_distance": 2.5372345447540283
671
+ },
672
+ {
673
+ "frame": 39,
674
+ "take": 9,
675
+ "manipulation_level": 1,
676
+ "active_joints": [
677
+ 0
678
+ ],
679
+ "joint_positions": [
680
+ 1.1536922454833984
681
+ ],
682
+ "cam_pose": [
683
+ -2.4005093574523926,
684
+ -0.5306130051612854,
685
+ 0.6273472309112549
686
+ ],
687
+ "cam_distance": 2.5372345447540283
688
+ },
689
+ {
690
+ "frame": 40,
691
+ "take": 9,
692
+ "manipulation_level": 1,
693
+ "active_joints": [
694
+ 0
695
+ ],
696
+ "joint_positions": [
697
+ 1.1832740306854248
698
+ ],
699
+ "cam_pose": [
700
+ -2.4005093574523926,
701
+ -0.5306130051612854,
702
+ 0.6273472309112549
703
+ ],
704
+ "cam_distance": 2.5372345447540283
705
+ },
706
+ {
707
+ "frame": 41,
708
+ "take": 9,
709
+ "manipulation_level": 1,
710
+ "active_joints": [
711
+ 0
712
+ ],
713
+ "joint_positions": [
714
+ 1.2128559350967407
715
+ ],
716
+ "cam_pose": [
717
+ -2.4005093574523926,
718
+ -0.5306130051612854,
719
+ 0.6273472309112549
720
+ ],
721
+ "cam_distance": 2.5372345447540283
722
+ },
723
+ {
724
+ "frame": 42,
725
+ "take": 9,
726
+ "manipulation_level": 1,
727
+ "active_joints": [
728
+ 0
729
+ ],
730
+ "joint_positions": [
731
+ 1.242437720298767
732
+ ],
733
+ "cam_pose": [
734
+ -2.4005093574523926,
735
+ -0.5306130051612854,
736
+ 0.6273472309112549
737
+ ],
738
+ "cam_distance": 2.5372345447540283
739
+ },
740
+ {
741
+ "frame": 43,
742
+ "take": 9,
743
+ "manipulation_level": 1,
744
+ "active_joints": [
745
+ 0
746
+ ],
747
+ "joint_positions": [
748
+ 1.272019624710083
749
+ ],
750
+ "cam_pose": [
751
+ -2.4005093574523926,
752
+ -0.5306130051612854,
753
+ 0.6273472309112549
754
+ ],
755
+ "cam_distance": 2.5372345447540283
756
+ },
757
+ {
758
+ "frame": 44,
759
+ "take": 9,
760
+ "manipulation_level": 1,
761
+ "active_joints": [
762
+ 0
763
+ ],
764
+ "joint_positions": [
765
+ 1.301601529121399
766
+ ],
767
+ "cam_pose": [
768
+ -2.4005093574523926,
769
+ -0.5306130051612854,
770
+ 0.6273472309112549
771
+ ],
772
+ "cam_distance": 2.5372345447540283
773
+ },
774
+ {
775
+ "frame": 45,
776
+ "take": 9,
777
+ "manipulation_level": 1,
778
+ "active_joints": [
779
+ 0
780
+ ],
781
+ "joint_positions": [
782
+ 1.3311833143234253
783
+ ],
784
+ "cam_pose": [
785
+ -2.4005093574523926,
786
+ -0.5306130051612854,
787
+ 0.6273472309112549
788
+ ],
789
+ "cam_distance": 2.5372345447540283
790
+ },
791
+ {
792
+ "frame": 46,
793
+ "take": 9,
794
+ "manipulation_level": 1,
795
+ "active_joints": [
796
+ 0
797
+ ],
798
+ "joint_positions": [
799
+ 1.3607652187347412
800
+ ],
801
+ "cam_pose": [
802
+ -2.4005093574523926,
803
+ -0.5306130051612854,
804
+ 0.6273472309112549
805
+ ],
806
+ "cam_distance": 2.5372345447540283
807
+ },
808
+ {
809
+ "frame": 47,
810
+ "take": 9,
811
+ "manipulation_level": 1,
812
+ "active_joints": [
813
+ 0
814
+ ],
815
+ "joint_positions": [
816
+ 1.3903470039367676
817
+ ],
818
+ "cam_pose": [
819
+ -2.4005093574523926,
820
+ -0.5306130051612854,
821
+ 0.6273472309112549
822
+ ],
823
+ "cam_distance": 2.5372345447540283
824
+ },
825
+ {
826
+ "frame": 48,
827
+ "take": 9,
828
+ "manipulation_level": 1,
829
+ "active_joints": [
830
+ 0
831
+ ],
832
+ "joint_positions": [
833
+ 1.4199289083480835
834
+ ],
835
+ "cam_pose": [
836
+ -2.4005093574523926,
837
+ -0.5306130051612854,
838
+ 0.6273472309112549
839
+ ],
840
+ "cam_distance": 2.5372345447540283
841
+ },
842
+ {
843
+ "frame": 49,
844
+ "take": 9,
845
+ "manipulation_level": 1,
846
+ "active_joints": [
847
+ 0
848
+ ],
849
+ "joint_positions": [
850
+ 1.4495106935501099
851
+ ],
852
+ "cam_pose": [
853
+ -2.4005093574523926,
854
+ -0.5306130051612854,
855
+ 0.6273472309112549
856
+ ],
857
+ "cam_distance": 2.5372345447540283
858
+ },
859
+ {
860
+ "frame": 50,
861
+ "take": 9,
862
+ "manipulation_level": 1,
863
+ "active_joints": [
864
+ 0
865
+ ],
866
+ "joint_positions": [
867
+ 1.4790925979614258
868
+ ],
869
+ "cam_pose": [
870
+ -2.4005093574523926,
871
+ -0.5306130051612854,
872
+ 0.6273472309112549
873
+ ],
874
+ "cam_distance": 2.5372345447540283
875
+ },
876
+ {
877
+ "frame": 51,
878
+ "take": 9,
879
+ "manipulation_level": 1,
880
+ "active_joints": [
881
+ 0
882
+ ],
883
+ "joint_positions": [
884
+ 1.5086743831634521
885
+ ],
886
+ "cam_pose": [
887
+ -2.4005093574523926,
888
+ -0.5306130051612854,
889
+ 0.6273472309112549
890
+ ],
891
+ "cam_distance": 2.5372345447540283
892
+ },
893
+ {
894
+ "frame": 52,
895
+ "take": 9,
896
+ "manipulation_level": 1,
897
+ "active_joints": [
898
+ 0
899
+ ],
900
+ "joint_positions": [
901
+ 1.538256287574768
902
+ ],
903
+ "cam_pose": [
904
+ -2.4005093574523926,
905
+ -0.5306130051612854,
906
+ 0.6273472309112549
907
+ ],
908
+ "cam_distance": 2.5372345447540283
909
+ },
910
+ {
911
+ "frame": 53,
912
+ "take": 9,
913
+ "manipulation_level": 1,
914
+ "active_joints": [
915
+ 0
916
+ ],
917
+ "joint_positions": [
918
+ 1.567838191986084
919
+ ],
920
+ "cam_pose": [
921
+ -2.4005093574523926,
922
+ -0.5306130051612854,
923
+ 0.6273472309112549
924
+ ],
925
+ "cam_distance": 2.5372345447540283
926
+ },
927
+ {
928
+ "frame": 54,
929
+ "take": 9,
930
+ "manipulation_level": 1,
931
+ "active_joints": [
932
+ 0
933
+ ],
934
+ "joint_positions": [
935
+ 1.5974199771881104
936
+ ],
937
+ "cam_pose": [
938
+ -2.4005093574523926,
939
+ -0.5306130051612854,
940
+ 0.6273472309112549
941
+ ],
942
+ "cam_distance": 2.5372345447540283
943
+ },
944
+ {
945
+ "frame": 55,
946
+ "take": 9,
947
+ "manipulation_level": 1,
948
+ "active_joints": [
949
+ 0
950
+ ],
951
+ "joint_positions": [
952
+ 1.6270018815994263
953
+ ],
954
+ "cam_pose": [
955
+ -2.4005093574523926,
956
+ -0.5306130051612854,
957
+ 0.6273472309112549
958
+ ],
959
+ "cam_distance": 2.5372345447540283
960
+ },
961
+ {
962
+ "frame": 56,
963
+ "take": 9,
964
+ "manipulation_level": 1,
965
+ "active_joints": [
966
+ 0
967
+ ],
968
+ "joint_positions": [
969
+ 1.6565836668014526
970
+ ],
971
+ "cam_pose": [
972
+ -2.4005093574523926,
973
+ -0.5306130051612854,
974
+ 0.6273472309112549
975
+ ],
976
+ "cam_distance": 2.5372345447540283
977
+ },
978
+ {
979
+ "frame": 57,
980
+ "take": 9,
981
+ "manipulation_level": 1,
982
+ "active_joints": [
983
+ 0
984
+ ],
985
+ "joint_positions": [
986
+ 1.6861655712127686
987
+ ],
988
+ "cam_pose": [
989
+ -2.4005093574523926,
990
+ -0.5306130051612854,
991
+ 0.6273472309112549
992
+ ],
993
+ "cam_distance": 2.5372345447540283
994
+ },
995
+ {
996
+ "frame": 58,
997
+ "take": 9,
998
+ "manipulation_level": 1,
999
+ "active_joints": [
1000
+ 0
1001
+ ],
1002
+ "joint_positions": [
1003
+ 1.715747356414795
1004
+ ],
1005
+ "cam_pose": [
1006
+ -2.4005093574523926,
1007
+ -0.5306130051612854,
1008
+ 0.6273472309112549
1009
+ ],
1010
+ "cam_distance": 2.5372345447540283
1011
+ },
1012
+ {
1013
+ "frame": 59,
1014
+ "take": 9,
1015
+ "manipulation_level": 1,
1016
+ "active_joints": [
1017
+ 0
1018
+ ],
1019
+ "joint_positions": [
1020
+ 1.7453292608261108
1021
+ ],
1022
+ "cam_pose": [
1023
+ -2.4005093574523926,
1024
+ -0.5306130051612854,
1025
+ 0.6273472309112549
1026
+ ],
1027
+ "cam_distance": 2.5372345447540283
1028
+ }
1029
+ ]
1030
+ }
manipulation_1/40453/take_07/affordance/frame_0000.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6c596094e136f98f52c748cdb60d6074e619aa3b1e9b6e4128d9f42063a78ba5
3
+ size 5784
manipulation_1/40453/take_07/affordance/frame_0001.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:afa77c3d5faeb9acc8746a0c01cd67269badc718a3f53dec4f24ce87d6ddd70e
3
+ size 5793
manipulation_1/40453/take_07/affordance/frame_0002.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:98ce47845708e0e1a10ca6da9ab295d041c484c71ec2c25fe0ba91af8ff29b00
3
+ size 5787
manipulation_1/40453/take_07/affordance/frame_0003.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6df1fee056be5244a2cea9105c55dc9028150e2ce5978dc259e8f02219ee64ab
3
+ size 5796
manipulation_1/40453/take_07/affordance/frame_0004.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f4ba6294f2a932c4196e4b446c1389c2511ff09c1c1976972037072fbd24a34e
3
+ size 5796
manipulation_1/40453/take_07/affordance/frame_0005.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8c4855a83eab0322a7a5106ab610fe61cf45f8306dde5818c8bd04777527223c
3
+ size 5804
manipulation_1/40453/take_07/affordance/frame_0006.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:51eb108fae09c39d4e9c18ec1a47a9d86a02ec3f065d3810cf5ed107015e1c6f
3
+ size 5802
manipulation_1/40453/take_07/affordance/frame_0007.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bd9a5ceda2d3e15b9551e78f89480dcf794df9502d0bb99c9545c94acf68a362
3
+ size 5794
manipulation_1/40453/take_07/affordance/frame_0008.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3180fdffe1476db5fbd1aab2a5345c5480c858925404e57fb7db77b1f3a85d48
3
+ size 5819
manipulation_1/40453/take_07/affordance/frame_0009.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7c5fb3fa86fe871f4a74ba894fae8822d563b69f9a598494393562e3f2d10d83
3
+ size 5810
manipulation_1/40453/take_07/affordance/frame_0010.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fffd22d22d1d01db517dba1fe453c2b8635d44f19d86d179b47b307e09552c38
3
+ size 5823
manipulation_1/40453/take_07/affordance/frame_0011.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2540ff4c35e7359df1835bef41a40ab25d28e9d58d3ae4e69d4d28d9bba5089e
3
+ size 5818
manipulation_1/40453/take_07/affordance/frame_0012.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1c675d793650f5fedb36bd4239c9c34dc4bcf7de5847edbc279210790bccfdd2
3
+ size 5828
manipulation_1/40453/take_07/affordance/frame_0013.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:594cbbd078a148442152e29ed1f9696bd1308c949ae9a5b8dd0c602d5f700d40
3
+ size 5821
manipulation_1/40453/take_07/affordance/frame_0014.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:84d0e53791725bb08fe0ea10771c1eea419dd1d9527879a15dd5c341d8add6c9
3
+ size 5834
manipulation_1/40453/take_07/affordance/frame_0015.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6041bfec9842eb5dae347c25d5447208da041e401be5c6ff2929d99dc2ebbc27
3
+ size 5821
manipulation_1/40453/take_07/affordance/frame_0016.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8d3f5464f7f71c1e34578ebf2ca203c6697ccb8ed1a30915bd4c5c32cfd62f11
3
+ size 5829
manipulation_1/40453/take_07/affordance/frame_0017.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c9c3a3134a069ca87a1ab0fc87d702202ebd67e05debe18ea9c3798ffaa06bb0
3
+ size 5834
manipulation_1/40453/take_07/affordance/frame_0018.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2fb192f43e80936980727f6e9a7109f92692da5916e1af2b7d785fe786feae5b
3
+ size 5845
manipulation_1/40453/take_07/affordance/frame_0019.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3101028a630ae32702fc26ffa8daae72c79768737c4780cec959c49679a662b0
3
+ size 5843
manipulation_1/40453/take_07/affordance/frame_0020.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c97fca267d53bd9ce541f533fc8785a7ef614afa9ca553ee239f8473b0572d6c
3
+ size 5846
manipulation_1/40453/take_07/affordance/frame_0021.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:43f3fd573034be637833da15c7edf7134affbb517537dfa4c9da300d8510d938
3
+ size 5848
manipulation_1/40453/take_07/affordance/frame_0022.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b3bea251264cf6ba1c5863a067f7f3e86dd848daa32e0cae4eb9e596df97ad5d
3
+ size 5847
manipulation_1/40453/take_07/affordance/frame_0023.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5b7ebbab39c38b52d1a02f1989e03abdf158aa9cb611bbed047c131326554058
3
+ size 5849
manipulation_1/40453/take_07/affordance/frame_0024.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2358b2d5582ce6ac9e460a6d8ec4f57f9e6d9da4bf5a8529679679e77a57c083
3
+ size 5842
manipulation_1/40453/take_07/affordance/frame_0025.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:65bd3fcd9ec83fd7667d733f3e67f52cccbca618dc0a5a1ab0a554a537fa1e1b
3
+ size 5848
manipulation_1/40453/take_07/affordance/frame_0026.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3fce97cd648700d5c92e527581c5a8bbb50d13f139f8ca77ab0f6e760e2a76a5
3
+ size 5859
manipulation_1/40453/take_07/affordance/frame_0027.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ea599f6892765e14bb7a6fd482dca5bbdfb29eebbf9db0baca47ca6603c40485
3
+ size 5857
manipulation_1/40453/take_07/affordance/frame_0028.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:68f9aefdf37200974b0718801fc742576f4a013bade7b5eda5f4965ed152bbc8
3
+ size 5867
manipulation_1/40453/take_07/affordance/frame_0029.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6266a1ef32ab93d1329c5193fb24b513f0832bc6e93fc70aaf5cd698caf8148a
3
+ size 5868
manipulation_1/40453/take_07/affordance/frame_0030.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:05fd823b4e3fe27a78da45af4c172876c60140316c5ede30f67110256b8254ef
3
+ size 5876
manipulation_1/40453/take_07/affordance/frame_0031.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7f81b6da188c742db89021927099d5ec248e6b1e4555bbaeea7015cf9212012f
3
+ size 5883
manipulation_1/40453/take_07/affordance/frame_0032.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c4092b3b92c4aa04e5b3394b3c3390ba35545b8b42acc1786c053e5729c2f04b
3
+ size 5876
manipulation_1/40453/take_07/affordance/frame_0033.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eb3bfd56755d3e69d4558843bd1286e095bdcec229797bb94dcd55d62d733ede
3
+ size 5890
manipulation_1/40453/take_07/affordance/frame_0034.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:195b50123b498bd5983c7573783110347c802f1f7860390e8949df6f3afb1061
3
+ size 5881
manipulation_1/40453/take_07/affordance/frame_0035.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3fe554b5d67fd25cae7684c7804f8902e3d15bc62d465740b4739d9b9a280fb0
3
+ size 5887
manipulation_1/40453/take_07/affordance/frame_0036.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3bd0f1eda43d23d26aa014c1c22a21bdd577e586993f9e754c6d700befaf8473
3
+ size 5879
manipulation_1/40453/take_07/affordance/frame_0037.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7672f6ef1fb7faac11009a6f922b6a5579266d35ade58c95684cc0549edc4e8b
3
+ size 5880
manipulation_1/40453/take_07/affordance/frame_0038.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:734b386d63d02d748c064a75f2b07719cb56ae7f328f11f016b76485578afd87
3
+ size 5904
manipulation_1/40453/take_07/affordance/frame_0039.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:26a215739bb9e028a159452676c37a70693488bbde1e341d591e24e8e252cf11
3
+ size 5887