{"intrinsics":{"fx":520.408447265625,"fy":520.408447265625,"cx":643.3325805664062,"cy":353.37799072265625},"world2cam":[[-0.5428269505500793,-0.8378199338912964,0.05828084796667099,0.3558505177497864],[-0.5391848087310791,0.2944527566432953,-0.7890356183052063,0.22871458530426025],[0.6439088582992554,-0.4597339928150177,-0.6115767359733582,0.38909605145454407],[0.0,0.0,0.0,1.0]],"frames":[{"joint_positions":[0.4183383882045746,0.839656412601471,0.08908318728208542,-1.7613056898117065,-0.10701461881399155,3.1856112480163574,0.034663133323192596],"gripper_position":0.0},{"joint_positions":[0.4649016857147217,0.8396801352500916,0.03451375663280487,-1.7577576637268066,-0.10642023384571075,3.1899850368499756,0.04766874015331268],"gripper_position":0.0},{"joint_positions":[0.5123921632766724,0.8396801352500916,-0.021958032622933388,-1.7557742595672607,-0.10493875294923782,3.1958651542663574,0.06227770820260048],"gripper_position":0.0},{"joint_positions":[0.5623441934585571,0.8399752378463745,-0.08310690522193909,-1.7546688318252563,-0.10095304995775223,3.200627088546753,0.0797671303153038],"gripper_position":0.0},{"joint_positions":[0.6057180762290955,0.8409438133239746,-0.1356879025697708,-1.7542294263839722,-0.0926702469587326,3.2011733055114746,0.09641718864440918],"gripper_position":0.0},{"joint_positions":[0.6422700881958008,0.843252420425415,-0.17828968167304993,-1.7541074752807617,-0.08255048096179962,3.2001121044158936,0.10839533060789108],"gripper_position":0.0},{"joint_positions":[0.6674035787582397,0.8464566469192505,-0.20714372396469116,-1.7540302276611328,-0.0734337568283081,3.1967830657958984,0.11606567353010178],"gripper_position":0.0},{"joint_positions":[0.6812750697135925,0.8493685722351074,-0.2220045030117035,-1.7539726495742798,-0.06578709930181503,3.1895694732666016,0.11979053914546967],"gripper_position":0.0},{"joint_positions":[0.6860294938087463,0.8513666391372681,-0.2265099436044693,-1.7538294792175293,-0.06033533811569214,3.1767115592956543,0.12257707118988037],"gripper_position":0.0},{"joint_positions":[0.6854068040847778,0.8532513380050659,-0.2256046086549759,-1.7535169124603271,-0.055394407361745834,3.1602580547332764,0.12444953620433807],"gripper_position":0.0},{"joint_positions":[0.6816542744636536,0.8553014397621155,-0.22216837108135223,-1.7525814771652222,-0.05166100338101387,3.1430559158325195,0.12552480399608612],"gripper_position":0.0},{"joint_positions":[0.6746415495872498,0.8579771518707275,-0.21645954251289368,-1.7506502866744995,-0.04964367300271988,3.1264238357543945,0.12780256569385529],"gripper_position":0.0},{"joint_positions":[0.6658141613006592,0.8617013692855835,-0.21018826961517334,-1.7469230890274048,-0.048999104648828506,3.111328601837158,0.13150762021541595],"gripper_position":0.0},{"joint_positions":[0.6561672687530518,0.8671389818191528,-0.2048455774784088,-1.7397516965866089,-0.048846904188394547,3.0925681591033936,0.13659235835075378],"gripper_position":0.0},{"joint_positions":[0.6437820196151733,0.8741000890731812,-0.19680561125278473,-1.7315715551376343,-0.048855505883693695,3.076463460922241,0.13910427689552307],"gripper_position":0.0},{"joint_positions":[0.6291926503181458,0.880332887172699,-0.1859595775604248,-1.7227824926376343,-0.04884818568825722,3.05373477935791,0.14142905175685883],"gripper_position":0.0},{"joint_positions":[0.6163312792778015,0.8862981200218201,-0.17657943069934845,-1.7119827270507812,-0.04884890839457512,3.026906728744507,0.1460346132516861],"gripper_position":0.0},{"joint_positions":[0.6002208590507507,0.8927845358848572,-0.1628824919462204,-1.697738766670227,-0.04885849356651306,2.9962878227233887,0.14898063242435455],"gripper_position":0.0},{"joint_positions":[0.5801530480384827,0.898573637008667,-0.14449632167816162,-1.6781100034713745,-0.048956818878650665,2.967134714126587,0.14897283911705017],"gripper_position":0.0},{"joint_positions":[0.5604844093322754,0.9011516571044922,-0.1261226087808609,-1.6579004526138306,-0.04899558052420616,2.925985097885132,0.14896108210086823],"gripper_position":0.0},{"joint_positions":[0.5447150468826294,0.9042677283287048,-0.11198442429304123,-1.6357557773590088,-0.04914230480790138,2.878812789916992,0.1494860202074051],"gripper_position":0.0},{"joint_positions":[0.532902181148529,0.9102870225906372,-0.10133898258209229,-1.6111341714859009,-0.0491909496486187,2.8314456939697266,0.15126384794712067],"gripper_position":0.0},{"joint_positions":[0.5237617492675781,0.9190036058425903,-0.09341483563184738,-1.5839823484420776,-0.04969177395105362,2.78688383102417,0.1575448364019394],"gripper_position":0.0},{"joint_positions":[0.5164576768875122,0.9297472238540649,-0.08798742294311523,-1.5545506477355957,-0.051141027361154556,2.741011142730713,0.16696923971176147],"gripper_position":0.0},{"joint_positions":[0.5111876130104065,0.9402087926864624,-0.08363518118858337,-1.5266187191009521,-0.05272838845849037,2.697528600692749,0.17485474050045013],"gripper_position":0.0},{"joint_positions":[0.5091539025306702,0.9513024687767029,-0.08273153752088547,-1.4997700452804565,-0.05535939335823059,2.6598289012908936,0.1853180229663849],"gripper_position":0.0},{"joint_positions":[0.507634699344635,0.9618203639984131,-0.08219367265701294,-1.4766026735305786,-0.05887210741639137,2.6274070739746094,0.19672822952270508],"gripper_position":0.0},{"joint_positions":[0.5065984129905701,0.9718549251556396,-0.08148981630802155,-1.4536800384521484,-0.06216208264231682,2.5972015857696533,0.20675191283226013],"gripper_position":0.0},{"joint_positions":[0.5038884878158569,0.9803192019462585,-0.07574676722288132,-1.433152675628662,-0.06831371784210205,2.570378303527832,0.20827843248844147],"gripper_position":0.0},{"joint_positions":[0.4972926080226898,0.9807195067405701,-0.0695146694779396,-1.414367914199829,-0.07056953758001328,2.5305562019348145,0.20834898948669434],"gripper_position":0.0},{"joint_positions":[0.4868544340133667,0.9701499938964844,-0.06290929019451141,-1.3968596458435059,-0.07055554538965225,2.4667413234710693,0.2053823471069336],"gripper_position":0.0},{"joint_positions":[0.4716523289680481,0.9434752464294434,-0.05631522461771965,-1.3913673162460327,-0.07051588594913483,2.3816699981689453,0.19861844182014465],"gripper_position":0.0},{"joint_positions":[0.4524785280227661,0.9108666181564331,-0.050695423036813736,-1.3924766778945923,-0.07050936669111252,2.295559883117676,0.1883733570575714],"gripper_position":0.0},{"joint_positions":[0.4284653663635254,0.873663604259491,-0.042608726769685745,-1.3939437866210938,-0.07050968706607819,2.20342755317688,0.1738102287054062],"gripper_position":0.0},{"joint_positions":[0.40505433082580566,0.8395825624465942,-0.032753657549619675,-1.394004464149475,-0.07043954730033875,2.1125283241271973,0.16050870716571808],"gripper_position":0.0},{"joint_positions":[0.3841205835342407,0.806592583656311,-0.022383078932762146,-1.393634557723999,-0.07040993124246597,2.01908278465271,0.14984439313411713],"gripper_position":0.0},{"joint_positions":[0.3659270405769348,0.776850700378418,-0.011688968166708946,-1.392534852027893,-0.07033131271600723,1.929382562637329,0.139887735247612],"gripper_position":0.0},{"joint_positions":[0.34985747933387756,0.7508952021598816,0.0007075043977238238,-1.3909499645233154,-0.07038372755050659,1.8616729974746704,0.1201883852481842],"gripper_position":0.0},{"joint_positions":[0.33812007308006287,0.7241350412368774,0.011011933907866478,-1.39572012424469,-0.07285525649785995,1.8336378335952759,0.09892400354146957],"gripper_position":0.0},{"joint_positions":[0.3304191827774048,0.6971479058265686,0.018001938238739967,-1.4054346084594727,-0.07414495944976807,1.8257701396942139,0.08513305336236954],"gripper_position":0.0},{"joint_positions":[0.32731980085372925,0.6755971908569336,0.021192805841565132,-1.416624903678894,-0.0744844526052475,1.821718454360962,0.07900130748748779],"gripper_position":0.0},{"joint_positions":[0.32688212394714355,0.6609371304512024,0.022217093035578728,-1.4279719591140747,-0.07459907978773117,1.8203084468841553,0.07748810201883316],"gripper_position":0.0},{"joint_positions":[0.3268096446990967,0.659145176410675,0.024149641394615173,-1.428162693977356,-0.07479262351989746,1.8203110694885254,0.07923425734043121],"gripper_position":0.0},{"joint_positions":[0.32676464319229126,0.660327672958374,0.02540167048573494,-1.4279861450195312,-0.07482480257749557,1.8175488710403442,0.0841016173362732],"gripper_position":0.0},{"joint_positions":[0.3267907202243805,0.6617854237556458,0.027070526033639908,-1.4319831132888794,-0.0882994756102562,1.8177872896194458,0.08469300717115402],"gripper_position":0.0},{"joint_positions":[0.3272409439086914,0.6607258915901184,0.03178292140364647,-1.4444618225097656,-0.11165206879377365,1.8335381746292114,0.07928218692541122],"gripper_position":0.0},{"joint_positions":[0.3275502324104309,0.6574423909187317,0.038536787033081055,-1.467254638671875,-0.13708628714084625,1.8768575191497803,0.07275836169719696],"gripper_position":0.0},{"joint_positions":[0.3276412785053253,0.6489049196243286,0.046070732176303864,-1.503533124923706,-0.15738515555858612,1.949102759361267,0.06493504345417023],"gripper_position":0.0},{"joint_positions":[0.3275928199291229,0.632424533367157,0.05392274633049965,-1.552261233329773,-0.16834069788455963,2.03015398979187,0.055483315140008926],"gripper_position":0.0},{"joint_positions":[0.3251011371612549,0.6134483814239502,0.06187013164162636,-1.6011481285095215,-0.17034417390823364,2.1097917556762695,0.042217787355184555],"gripper_position":0.0},{"joint_positions":[0.3182252049446106,0.5912805199623108,0.07183641195297241,-1.651256799697876,-0.16996733844280243,2.189833164215088,0.023887503892183304],"gripper_position":0.0},{"joint_positions":[0.3074713945388794,0.5672902464866638,0.08310508728027344,-1.7016336917877197,-0.16779480874538422,2.2685751914978027,0.003357920330017805],"gripper_position":0.0},{"joint_positions":[0.2923714816570282,0.5412906408309937,0.09499137103557587,-1.7536860704421997,-0.16294407844543457,2.3415725231170654,-0.015190123580396175],"gripper_position":0.0},{"joint_positions":[0.2745838463306427,0.5152771472930908,0.10685581713914871,-1.8047683238983154,-0.15130843222141266,2.404271125793457,-0.035637687891721725],"gripper_position":0.0},{"joint_positions":[0.2535666227340698,0.4912009835243225,0.12056892365217209,-1.8507463932037354,-0.1304185539484024,2.4499802589416504,-0.06412569433450699],"gripper_position":0.0},{"joint_positions":[0.2297179400920868,0.47070497274398804,0.13760772347450256,-1.8861383199691772,-0.10333600640296936,2.4599642753601074,-0.10357680916786194],"gripper_position":0.0},{"joint_positions":[0.21497248113155365,0.46039170026779175,0.14476297795772552,-1.9034448862075806,-0.0917019248008728,2.4444830417633057,-0.12012667208909988],"gripper_position":0.0},{"joint_positions":[0.20951004326343536,0.45861515402793884,0.1448022872209549,-1.908647060394287,-0.09161060303449631,2.428057909011841,-0.12059316784143448],"gripper_position":0.0},{"joint_positions":[0.20703309774398804,0.45908549427986145,0.1448412984609604,-1.9115889072418213,-0.09160461276769638,2.424614667892456,-0.12059764564037323],"gripper_position":0.0},{"joint_positions":[0.20701833069324493,0.4591749906539917,0.14512880146503448,-1.9132190942764282,-0.09159959107637405,2.4235854148864746,-0.12060139328241348],"gripper_position":0.0},{"joint_positions":[0.2070920467376709,0.4591875374317169,0.14640241861343384,-1.913775086402893,-0.0915880799293518,2.423128128051758,-0.12059804052114487],"gripper_position":0.0},{"joint_positions":[0.20708651840686798,0.4591802954673767,0.14680224657058716,-1.9137836694717407,-0.09158003330230713,2.423034429550171,-0.12059580534696579],"gripper_position":0.0},{"joint_positions":[0.2073608934879303,0.4591756761074066,0.14681346714496613,-1.9137269258499146,-0.09182099252939224,2.423597812652588,-0.12004903703927994],"gripper_position":0.0},{"joint_positions":[0.20822735130786896,0.46296364068984985,0.14655348658561707,-1.9084947109222412,-0.09688766300678253,2.4058287143707275,-0.11980845779180527],"gripper_position":0.0},{"joint_positions":[0.21179597079753876,0.47375571727752686,0.14525224268436432,-1.894303321838379,-0.11128540337085724,2.366790771484375,-0.11786475032567978],"gripper_position":0.0},{"joint_positions":[0.21890152990818024,0.49173328280448914,0.14605340361595154,-1.876944899559021,-0.13175132870674133,2.3228096961975098,-0.12153010070323944],"gripper_position":0.0},{"joint_positions":[0.23011481761932373,0.5128597021102905,0.14921878278255463,-1.86012601852417,-0.15250888466835022,2.2874879837036133,-0.1304205358028412],"gripper_position":0.0},{"joint_positions":[0.243173748254776,0.5345184206962585,0.15627267956733704,-1.8467456102371216,-0.16615870594978333,2.2652394771575928,-0.14765451848506927],"gripper_position":0.0},{"joint_positions":[0.25553107261657715,0.5536407232284546,0.16496427357196808,-1.838066816329956,-0.17583787441253662,2.2604801654815674,-0.1680617481470108],"gripper_position":0.0},{"joint_positions":[0.2665064036846161,0.5670772194862366,0.17324532568454742,-1.8327244520187378,-0.18566088378429413,2.2618789672851562,-0.18234476447105408],"gripper_position":0.0},{"joint_positions":[0.2745487093925476,0.5711702108383179,0.17985916137695312,-1.8320156335830688,-0.19148153066635132,2.2708497047424316,-0.1930723637342453],"gripper_position":0.0},{"joint_positions":[0.2789974510669708,0.5705031156539917,0.1852000653743744,-1.831990361213684,-0.19230808317661285,2.2852835655212402,-0.20467112958431244],"gripper_position":0.0},{"joint_positions":[0.2792902886867523,0.5673059821128845,0.18933673202991486,-1.8324555158615112,-0.1923152208328247,2.3056914806365967,-0.2155034989118576],"gripper_position":0.0},{"joint_positions":[0.2784956395626068,0.5611732602119446,0.1904800534248352,-1.8354796171188354,-0.19230662286281586,2.3382315635681152,-0.22161053121089935],"gripper_position":0.0},{"joint_positions":[0.274935781955719,0.5522830486297607,0.1906903237104416,-1.8429611921310425,-0.1906927227973938,2.379032850265503,-0.2223433256149292],"gripper_position":0.0},{"joint_positions":[0.26703813672065735,0.5422152280807495,0.19139382243156433,-1.8528223037719727,-0.1831282675266266,2.42463755607605,-0.2223709672689438],"gripper_position":0.0},{"joint_positions":[0.2537940442562103,0.5298759937286377,0.19444213807582855,-1.8653241395950317,-0.1654309779405594,2.4644758701324463,-0.22589242458343506],"gripper_position":0.0},{"joint_positions":[0.23582595586776733,0.5198430418968201,0.19986888766288757,-1.876739263534546,-0.14372484385967255,2.496145486831665,-0.23803089559078217],"gripper_position":0.0},{"joint_positions":[0.21309794485569,0.5115039944648743,0.21102498471736908,-1.884498953819275,-0.11317621171474457,2.511605978012085,-0.26675087213516235],"gripper_position":0.0},{"joint_positions":[0.19038930535316467,0.5062581300735474,0.2236475646495819,-1.8885353803634644,-0.08882031589746475,2.51462459564209,-0.2973286211490631],"gripper_position":0.0},{"joint_positions":[0.1765138953924179,0.5041322112083435,0.23131221532821655,-1.8902093172073364,-0.08071912825107574,2.5151872634887695,-0.31064388155937195],"gripper_position":0.0}]}