| {"intrinsics":{"fx":522.3336181640625,"fy":522.3336181640625,"cx":653.96142578125,"cy":358.784423828125},"world2cam":[[-0.8465912938117981,-0.5312162637710571,-0.03305283933877945,0.5400005578994751],[0.0058013563975691795,0.05288739874958992,-0.9985836148262024,0.3582916557788849],[0.53221195936203,-0.8455839157104492,-0.04169223830103874,0.6414875984191895],[0.0,0.0,0.0,1.0]],"frames":[{"joint_positions":[-0.017574096098542213,-0.431838721036911,-0.05475778132677078,-2.532057523727417,-0.14122845232486725,2.093682050704956,-0.20815664529800415],"gripper_position":0.6431718015337151},{"joint_positions":[-0.018199821934103966,-0.4277077913284302,-0.05193896219134331,-2.527604818344116,-0.1419387310743332,2.099379062652588,-0.1813073456287384],"gripper_position":0.5506607919861907},{"joint_positions":[-0.018482908606529236,-0.42039620876312256,-0.0478031262755394,-2.52319073677063,-0.14183057844638824,2.113116979598999,-0.1448419690132141],"gripper_position":0.48458150571323666},{"joint_positions":[-0.018464207649230957,-0.4088601768016815,-0.041787661612033844,-2.5175552368164062,-0.1409020870923996,2.131685972213745,-0.10210529714822769],"gripper_position":0.39647576146466845},{"joint_positions":[-0.018319886177778244,-0.3931322693824768,-0.034551575779914856,-2.5099425315856934,-0.13468624651432037,2.1502950191497803,-0.05868243798613548],"gripper_position":0.33039647519171444},{"joint_positions":[-0.01785050332546234,-0.3719259202480316,-0.025828225538134575,-2.4980571269989014,-0.12104079872369766,2.1638803482055664,-0.01699763536453247],"gripper_position":0.26431714509181614},{"joint_positions":[-0.017152177169919014,-0.3464002013206482,-0.016723573207855225,-2.4825830459594727,-0.10206039994955063,2.1727664470672607,0.019357072189450264],"gripper_position":0.17621148849713641},{"joint_positions":[-0.014899907633662224,-0.31624919176101685,-0.008825182914733887,-2.4635093212127686,-0.07853575795888901,2.1787710189819336,0.05063936114311218],"gripper_position":0.10572689309828187},{"joint_positions":[-0.011450705118477345,-0.2830713391304016,-0.002923312596976757,-2.442323923110962,-0.05635320022702217,2.187434673309326,0.07854705303907394],"gripper_position":0.0220264579756142},{"joint_positions":[-0.008586008101701736,-0.25060197710990906,0.0007738840649835765,-2.422189474105835,-0.03696071729063988,2.1975371837615967,0.10164064913988113],"gripper_position":0.0},{"joint_positions":[-0.007738908287137747,-0.21621102094650269,0.0029858513735234737,-2.4012718200683594,-0.018734905868768692,2.208235025405884,0.12324819713830948],"gripper_position":0.0},{"joint_positions":[-0.008413450792431831,-0.18418462574481964,0.0030110501684248447,-2.383392572402954,-0.0007336343405768275,2.2201950550079346,0.1403837352991104],"gripper_position":0.0},{"joint_positions":[-0.010861748829483986,-0.15341490507125854,0.0011962783755734563,-2.368041515350342,0.015713108703494072,2.2334256172180176,0.1543164998292923],"gripper_position":0.0},{"joint_positions":[-0.01557071227580309,-0.12252730131149292,-0.002909343922510743,-2.355029821395874,0.03095211833715439,2.24538516998291,0.16409559547901154],"gripper_position":0.0},{"joint_positions":[-0.022312067449092865,-0.0944632962346077,-0.008944428525865078,-2.3448750972747803,0.04086526855826378,2.257349729537964,0.16916579008102417],"gripper_position":0.0},{"joint_positions":[-0.030363259837031364,-0.06813015788793564,-0.01675247773528099,-2.3373801708221436,0.04774734005331993,2.269850015640259,0.17218032479286194],"gripper_position":0.0},{"joint_positions":[-0.03941619023680687,-0.04560726881027222,-0.026209812611341476,-2.3322207927703857,0.05020889639854431,2.2809977531433105,0.17298902571201324],"gripper_position":0.0},{"joint_positions":[-0.05010950565338135,-0.024962998926639557,-0.03658211603760719,-2.327838897705078,0.05140272155404091,2.2919163703918457,0.17301581799983978],"gripper_position":0.0},{"joint_positions":[-0.060249052941799164,-0.007149187382310629,-0.046617668122053146,-2.3233304023742676,0.052944231778383255,2.3002524375915527,0.17302089929580688],"gripper_position":0.0},{"joint_positions":[-0.07007316499948502,0.008397205732762814,-0.056180208921432495,-2.3194990158081055,0.055155858397483826,2.308621883392334,0.17301835119724274],"gripper_position":0.0},{"joint_positions":[-0.07866055518388748,0.022275762632489204,-0.06442076712846756,-2.3156659603118896,0.0568680539727211,2.3135080337524414,0.17302243411540985],"gripper_position":0.0},{"joint_positions":[-0.08510047942399979,0.033978648483753204,-0.07122598588466644,-2.311868667602539,0.058754291385412216,2.3155324459075928,0.17302416265010834],"gripper_position":0.0},{"joint_positions":[-0.08884410560131073,0.04313638061285019,-0.07638990879058838,-2.3095171451568604,0.06106168404221535,2.3165435791015625,0.17301619052886963],"gripper_position":0.0},{"joint_positions":[-0.09032849967479706,0.050658803433179855,-0.07966180890798569,-2.3079912662506104,0.06348729133605957,2.316879987716675,0.1730199158191681],"gripper_position":0.0},{"joint_positions":[-0.09093459695577621,0.05728180706501007,-0.08053560554981232,-2.3065876960754395,0.06551159918308258,2.3169991970062256,0.1734260618686676],"gripper_position":0.0},{"joint_positions":[-0.09064900875091553,0.06306903064250946,-0.08048649877309799,-2.306089401245117,0.06625577807426453,2.3170666694641113,0.17451061308383942],"gripper_position":0.0},{"joint_positions":[-0.08966420590877533,0.06822425127029419,-0.08047144114971161,-2.306074619293213,0.06628867238759995,2.3170831203460693,0.17670586705207825],"gripper_position":0.0},{"joint_positions":[-0.08789044618606567,0.07377903908491135,-0.08045706152915955,-2.3061537742614746,0.06628452241420746,2.3170812129974365,0.18008188903331757],"gripper_position":0.0},{"joint_positions":[-0.0860002264380455,0.07979373633861542,-0.08033078908920288,-2.3062245845794678,0.06625014543533325,2.3170785903930664,0.18249265849590302],"gripper_position":0.0},{"joint_positions":[-0.08377476781606674,0.08715663105249405,-0.08029164373874664,-2.3063912391662598,0.06566430628299713,2.3170881271362305,0.1847880631685257],"gripper_position":0.017621148849713664},{"joint_positions":[-0.08212801814079285,0.09453825652599335,-0.08020413666963577,-2.306426763534546,0.06313208490610123,2.3173446655273438,0.18690849840641022],"gripper_position":0.08370043512266767},{"joint_positions":[-0.0805988758802414,0.10178694128990173,-0.08021318167448044,-2.306344509124756,0.06144598126411438,2.3177878856658936,0.18782703578472137],"gripper_position":0.1629955611194348},{"joint_positions":[-0.07982472330331802,0.10526802390813828,-0.08020417392253876,-2.3053767681121826,0.059787217527627945,2.318540096282959,0.18872877955436707],"gripper_position":0.24669608389599096},{"joint_positions":[-0.07909322530031204,0.10515852272510529,-0.0801982656121254,-2.3027749061584473,0.0597374327480793,2.318525552749634,0.1888827085494995],"gripper_position":0.3171806354679013},{"joint_positions":[-0.07862790673971176,0.10516206175088882,-0.08019358664751053,-2.29975962638855,0.05937139689922333,2.3185019493103027,0.18901360034942627],"gripper_position":0.400881070590569},{"joint_positions":[-0.07858338952064514,0.10517310351133347,-0.08020211011171341,-2.296931505203247,0.05787637457251549,2.318507432937622,0.18944516777992249],"gripper_position":0.466960356863523},{"joint_positions":[-0.07861316949129105,0.10507789999246597,-0.0802212804555893,-2.294994592666626,0.054887738078832626,2.318514823913574,0.19084812700748444],"gripper_position":0.5418502175613338},{"joint_positions":[-0.07857879251241684,0.10500624775886536,-0.08020743727684021,-2.2932052612304688,0.05214039236307144,2.3185088634490967,0.1930711269378662],"gripper_position":0.629955961809902},{"joint_positions":[-0.078359454870224,0.10476873815059662,-0.08021033555269241,-2.2914631366729736,0.04870782047510147,2.3184053897857666,0.1949664205312729],"gripper_position":0.696035248082856},{"joint_positions":[-0.07829652726650238,0.10448124259710312,-0.0802072063088417,-2.2911479473114014,0.044326070696115494,2.3184092044830322,0.19683052599430084],"gripper_position":0.7577092471433817},{"joint_positions":[-0.07784167677164078,0.10352227836847305,-0.08019845187664032,-2.290674924850464,0.038349345326423645,2.318352699279785,0.19971954822540283],"gripper_position":0.8325991187979286},{"joint_positions":[-0.0769822895526886,0.10331612825393677,-0.08022155612707138,-2.29091739654541,0.0305410698056221,2.3180482387542725,0.2041928470134735],"gripper_position":0.8986784160276187},{"joint_positions":[-0.07496745139360428,0.10309046506881714,-0.08021508902311325,-2.2909302711486816,0.022872522473335266,2.3175904750823975,0.20813290774822235],"gripper_position":0.8986784160276187},{"joint_positions":[-0.07236877828836441,0.1023818701505661,-0.08019215613603592,-2.2909579277038574,0.01415922213345766,2.3172333240509033,0.2126206010580063],"gripper_position":0.8986784160276187},{"joint_positions":[-0.06895165890455246,0.09943287819623947,-0.07985670864582062,-2.2909467220306396,0.0024384327698498964,2.3161849975585938,0.22039304673671722],"gripper_position":0.8986784160276187},{"joint_positions":[-0.06452090293169022,0.09375407546758652,-0.07929214835166931,-2.2909483909606934,-0.009207195602357388,2.3147025108337402,0.22918149828910828],"gripper_position":0.8986784160276187},{"joint_positions":[-0.058839570730924606,0.0847075805068016,-0.0787411630153656,-2.2909233570098877,-0.018638422712683678,2.311309576034546,0.236601322889328],"gripper_position":0.8986784160276187},{"joint_positions":[-0.053521689027547836,0.07332273572683334,-0.07761561870574951,-2.2908618450164795,-0.02944665402173996,2.3072988986968994,0.2437468022108078],"gripper_position":0.8986784160276187},{"joint_positions":[-0.04872283339500427,0.06032530218362808,-0.07627050578594208,-2.2906248569488525,-0.04107753932476044,2.3012702465057373,0.2502058148384094],"gripper_position":0.8986784160276187},{"joint_positions":[-0.04495180770754814,0.04739709198474884,-0.07511325925588608,-2.2903056144714355,-0.05387580022215843,2.2949140071868896,0.2571723163127899],"gripper_position":0.8986784160276187},{"joint_positions":[-0.043165240436792374,0.03559323400259018,-0.07351755350828171,-2.289844512939453,-0.06166315823793411,2.2884395122528076,0.26148882508277893],"gripper_position":0.8986784160276187},{"joint_positions":[-0.04269847646355629,0.024786170572042465,-0.071678027510643,-2.289067506790161,-0.06387607008218765,2.279214382171631,0.2624299228191376],"gripper_position":0.8986784160276187},{"joint_positions":[-0.04251129925251007,0.014662317931652069,-0.07004008442163467,-2.2874395847320557,-0.06424334645271301,2.2671048641204834,0.26245707273483276],"gripper_position":0.8986784160276187},{"joint_positions":[-0.04225986823439598,0.004992082715034485,-0.06873200088739395,-2.285471200942993,-0.06587496399879456,2.256901741027832,0.2624703347682953],"gripper_position":0.8986784160276187},{"joint_positions":[-0.041942622512578964,-0.00514471810311079,-0.06747011840343475,-2.283411741256714,-0.06909679621458054,2.247840404510498,0.2627809941768646],"gripper_position":0.8986784160276187},{"joint_positions":[-0.04170363023877144,-0.014569747261703014,-0.06640980392694473,-2.2807841300964355,-0.07156984508037567,2.238643169403076,0.2629621624946594],"gripper_position":0.8986784160276187},{"joint_positions":[-0.04168364405632019,-0.023620106279850006,-0.06569584459066391,-2.276529550552368,-0.07387683540582657,2.227965831756592,0.2632618844509125],"gripper_position":0.8986784160276187},{"joint_positions":[-0.04168686643242836,-0.032071180641651154,-0.06499023735523224,-2.2707128524780273,-0.07529015094041824,2.218543291091919,0.26344552636146545],"gripper_position":0.8986784160276187},{"joint_positions":[-0.0416874922811985,-0.03942307457327843,-0.06456102430820465,-2.2651498317718506,-0.07662869244813919,2.2105791568756104,0.2634738087654114],"gripper_position":0.8986784160276187},{"joint_positions":[-0.041701313108205795,-0.04572489112615585,-0.06432559341192245,-2.259992837905884,-0.07869984954595566,2.204210042953491,0.26353171467781067],"gripper_position":0.8986784160276187},{"joint_positions":[-0.04174543917179108,-0.05024521052837372,-0.06430891156196594,-2.256171464920044,-0.08082906901836395,2.1965341567993164,0.263635516166687],"gripper_position":0.8986784160276187},{"joint_positions":[-0.042004670947790146,-0.05284181609749794,-0.06430754065513611,-2.254213571548462,-0.0821264386177063,2.1909213066101074,0.2636938691139221],"gripper_position":0.8986784160276187},{"joint_positions":[-0.04265747591853142,-0.05350470915436745,-0.06430856883525848,-2.2541141510009766,-0.08250308781862259,2.187680721282959,0.26369139552116394],"gripper_position":0.8986784160276187},{"joint_positions":[-0.043610427528619766,-0.05317644029855728,-0.064311683177948,-2.254617214202881,-0.08279334753751755,2.1845040321350098,0.2636951506137848],"gripper_position":0.8986784160276187},{"joint_positions":[-0.0446302555501461,-0.05287815257906914,-0.06431807577610016,-2.25601863861084,-0.08281455188989639,2.181317090988159,0.2636931836605072],"gripper_position":0.8986784160276187},{"joint_positions":[-0.045323122292757034,-0.05291375145316124,-0.06433789432048798,-2.258934259414673,-0.08281241357326508,2.177656650543213,0.26369357109069824],"gripper_position":0.8986784160276187},{"joint_positions":[-0.04536283388733864,-0.05358037352561951,-0.06432336568832397,-2.262575149536133,-0.08280153572559357,2.1733548641204834,0.26368066668510437],"gripper_position":0.8986784160276187},{"joint_positions":[-0.04504570737481117,-0.05647655948996544,-0.06428030133247375,-2.2675046920776367,-0.08274273574352264,2.1677334308624268,0.261930912733078],"gripper_position":0.8898678416027619},{"joint_positions":[-0.04465838521718979,-0.0643358901143074,-0.0636824518442154,-2.2756659984588623,-0.08263588696718216,2.15891432762146,0.2576850950717926],"gripper_position":0.8325991187979286},{"joint_positions":[-0.044196855276823044,-0.0791514590382576,-0.062362682074308395,-2.28786563873291,-0.08261756598949432,2.150566577911377,0.2511993646621704],"gripper_position":0.7533039599309532},{"joint_positions":[-0.04379229247570038,-0.10083916038274765,-0.06023527681827545,-2.303941249847412,-0.08260281383991241,2.145381212234497,0.2485751509666443],"gripper_position":0.6784140992331424},{"joint_positions":[-0.04332271218299866,-0.12615956366062164,-0.05802664905786514,-2.3203630447387695,-0.0825977772474289,2.141716480255127,0.2480989545583725],"gripper_position":0.6123348129601884},{"joint_positions":[-0.04295624420046806,-0.1490560919046402,-0.056402307003736496,-2.3343777656555176,-0.08259910345077515,2.138528347015381,0.24774828553199768],"gripper_position":0.5242290687116202},{"joint_positions":[-0.04287538304924965,-0.16653843224048615,-0.05553595349192619,-2.345371961593628,-0.08259599655866623,2.137453317642212,0.24746914207935333],"gripper_position":0.5154184942867635},{"joint_positions":[-0.04290014132857323,-0.17695438861846924,-0.055209167301654816,-2.3525192737579346,-0.08259720355272293,2.137284994125366,0.24740822613239288],"gripper_position":0.5154184942867635},{"joint_positions":[-0.04288794845342636,-0.1815018504858017,-0.05519021302461624,-2.3560423851013184,-0.08259772509336472,2.137268543243408,0.2473670095205307],"gripper_position":0.5154184942867635},{"joint_positions":[-0.0428912378847599,-0.182320237159729,-0.05511682853102684,-2.3578171730041504,-0.08259760588407516,2.1372721195220947,0.2473512589931488],"gripper_position":0.5154184942867635},{"joint_positions":[-0.04288836941123009,-0.18226875364780426,-0.05511046573519707,-2.359238862991333,-0.08259265124797821,2.1372785568237305,0.24733872711658478],"gripper_position":0.5154184942867635},{"joint_positions":[-0.0428912527859211,-0.18227043747901917,-0.055095773190259933,-2.360142230987549,-0.08259265124797821,2.1372807025909424,0.24734288454055786],"gripper_position":0.5154184942867635},{"joint_positions":[-0.04289969056844711,-0.18227322399616241,-0.055091291666030884,-2.3606882095336914,-0.0825938731431961,2.1372830867767334,0.24733193218708038],"gripper_position":0.5154184942867635},{"joint_positions":[-0.042887620627880096,-0.18227455019950867,-0.05507531017065048,-2.3611156940460205,-0.08259690552949905,2.137287139892578,0.24732278287410736],"gripper_position":0.5154184942867635}]} | |