data/spatial_traj.json

{"scale": 0.8, "fps": 30, "n_total": 270, "phases": {"spatial": [0, 70], "converge": [70, 95], "pre": [95, 140], "descend": [110, 165], "close": [165, 190], "lift": [190, 240], "hold": [240, 270]}, "ee_targets": [[0.677368034470889, -1.3877787807814458e-18, 0.38190831033559336], [0.6771788454691671, -0.00030192679397045204, 0.38192545723063015], [0.676371941756537, -0.00025926961988478447, 0.381976862376182], [0.6751853023126797, -0.0006343048632900384, 0.382062419227235], [0.6743477688012314, -0.0004538046501098594, 0.38218195045415015], [0.6730264768539906, -0.0005112624007502604, 0.38233520831020645], [0.6721112677242161, -0.000681600624255318, 0.38252187514509384], [0.6706842624512067, -0.0007097307914250996, 0.38274156406329174], [0.669082513794614, -0.0006924118883426622, 0.38299381972596913], [0.6673438222386704, -0.0007055597350921042, 0.3832781192947442], [0.6654868185648218, -0.0006930555407354979, 0.38359387351534613], [0.6635118559278094, -0.0006894326487668404, 0.38394042793893507], [0.6615156739517224, -0.0006467736944008543, 0.38431706427854695], [0.6593775954385896, -0.0005002899417946311, 0.3847230018978531], [0.6571375987081037, -0.0004053146731054864, 0.3851573994291481], [0.6548262343559699, -0.000308771858844999, 0.3856193565172132], [0.6523538490563338, -0.0001707086385262347, 0.38610791568543934], [0.6497635443780345, -9.2003886573614e-05, 0.38662206432034424], [0.647063249659216, -1.829444122146066e-05, 0.38716073677036816], [0.6443164521549771, 3.983097533783989e-05, 0.3877228165545997], [0.6414632134871658, 0.00014058471083864055, 0.38830713867685274], [0.6384538758794422, 0.00020385973370718396, 0.38891249204029904], [0.6352871556922124, 0.00029219994755034015, 0.3895376219576515], [0.6320026748057802, 0.0003860071546066869, 0.39018123275169503], [0.628598737821289, 0.0004902846699512301, 0.3908419904407753], [0.6250199311111381, 0.0005263796016929109, 0.39151852550367966], [0.6213339565464272, 0.0005089170785864579, 0.39220943571817896], [0.6175379581622329, 0.00051416859126874, 0.3929132890673471], [0.6136303581748506, 0.0005255149113067004, 0.393628626707635], [0.6096707507960114, 0.0004958011299291472, 0.3943539659925463], [0.6056856144775454, 0.0004827409575410695, 0.39508780354564904], [0.6016030115968113, 0.0004964845002216283, 0.39582861837655264], [0.5974399506419024, 0.0005178330572870511, 0.3965748750333927], [0.5932579567435563, 0.0005072066579584434, 0.39732502678528975], [0.5890992239156435, 0.0005037991904937965, 0.3980775188281848], [0.5849723387377221, 0.0004966171344190475, 0.3988307915074085], [0.5808647277002111, 0.0004943048115823802, 0.3995832835503036], [0.5767936191879262, 0.0004942213104367852, 0.4003334353022006], [0.572775049222815, 0.0005132759767074039, 0.4010796919590407], [0.5688256589442413, 0.0005538101626654595, 0.4018205067899443], [0.5649264062769428, 0.0006093893905679081, 0.40255434434304704], [0.5611161112434431, 0.0006474680367717415, 0.40327968362795835], [0.5573830812639703, 0.0007043210499639935, 0.4039950212682462], [0.5537010145817347, 0.0007695952978514923, 0.4046988746174144], [0.5501122206277436, 0.0008089942128271512, 0.4053897848319137], [0.5466353232247527, 0.000744349989615677, 0.40606631989481806], [0.5430182125312186, -0.0004662754231501648, 0.4067270775838983], [0.5394938306610105, -0.0016274290979709346, 0.4073706883779418], [0.5362725213161562, -0.0017811262629158385, 0.4079958182952943], [0.5331460534398201, -0.001993187459735203, 0.4086011716587406], [0.5300151402229948, -0.0026533007147049236, 0.4091854937809936], [0.5272012703413165, -0.0023568796434919005, 0.4097475735652252], [0.5244853154379758, -0.002089190745196898, 0.4102862460152491], [0.521894120448387, -0.0018513343761750278, 0.410800394650154], [0.5194158661746838, -0.0016225990054471392, 0.41128895381838015], [0.5170539501309874, -0.0014202840147342214, 0.4117509109064452], [0.5148190153081537, -0.0012316259821035518, 0.41218530843774026], [0.5127160083488032, -0.0010591143897261972, 0.41259124605704645], [0.5107543540947338, -0.0008783964730507341, 0.41296788239665827], [0.5089891811537499, -0.00048185544449367055, 0.4133144368202472], [0.5073662898133563, -0.00016927001218484668, 0.41363019104084914], [0.5058556332208068, -8.685201799058735e-05, 0.41391449060962415], [0.504506231223237, -1.7107792922521137e-05, 0.41416674627230166], [0.5033361462769783, 7.703928332873393e-05, 0.4143864351904995], [0.5023181537460528, 5.0203686744139725e-05, 0.4145731020253869], [0.5014838917186691, 2.929723930289877e-05, 0.4147263598814432], [0.5008338703410032, 1.5592878473621004e-05, 0.41484589110835834], [0.5003699093425706, 6.299056872942955e-06, 0.4149314479594113], [0.500092272671348, 1.4466776625238273e-06, 0.4149828531049632], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.415], [0.5, 0.0, 0.4149154079135634], [0.5, 0.0, 0.4146619178870971], [0.5, 0.0, 0.4142403876506104], [0.5, 0.0, 0.41365224352899116], [0.5, 0.0, 0.41289947561577445], [0.5, 0.0, 0.4119846310392954], [0.5, 0.0, 0.4109108053440137], [0.5, 0.0, 0.4096816320161706], [0.5, 0.0, 0.4083012701892219], [0.5, 0.0, 0.4067743905706468], [0.5, 0.0, 0.40510615963775215], [0.5, 0.0, 0.4033022221559489], [0.5, 0.0, 0.4013686820786524], [0.5, 0.0, 0.39931208189343664], [0.5, 0.0, 0.39713938048432695], [0.5, 0.0, 0.3948579295851393], [0.5, 0.0, 0.3924754489035403], [0.5, 0.0, 0.39], [0.5, 0.0, 0.3874399590100231], [0.5, 0.0, 0.38480398830195783], [0.5, 0.0, 0.3821010071662834], [0.5, 0.0, 0.3793401616355545], [0.5, 0.0, 0.376530793537122], [0.5, 0.0, 0.37368240888334653], [0.5, 0.0, 0.3708046457062615], [0.5, 0.0, 0.3679072414455238], [0.5, 0.0, 0.365], [0.5, 0.0, 0.3620927585544762], [0.5, 0.0, 0.35919535429373844], [0.5, 0.0, 0.35631759111665345], [0.5, 0.0, 0.353469206462878], [0.5, 0.0, 0.3506598383644455], [0.5, 0.0, 0.34789899283371656], [0.5, 0.0, 0.34519601169804215], [0.5, 0.0, 0.3425600409899769], [0.5, 0.0, 0.34], [0.5, 0.0, 0.3375245510964597], [0.5, 0.0, 0.3351420704148607], [0.5, 0.0, 0.33286061951567303], [0.5, 0.0, 0.33068791810656334], [0.5, 0.0, 0.3286313179213476], [0.5, 0.0, 0.3266977778440511], [0.5, 0.0, 0.3248938403622478], [0.5, 0.0, 0.3232256094293532], [0.5, 0.0, 0.3216987298107781], [0.5, 0.0, 0.3203183679838294], [0.5, 0.0, 0.3190891946559863], [0.5, 0.0, 0.3180153689607046], [0.5, 0.0, 0.31710052438422554], [0.5, 0.0, 0.3163477564710088], [0.5, 0.0, 0.3157596123493896], [0.5, 0.0, 0.3153380821129028], [0.5, 0.0, 0.3150845920864366], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.315], [0.5, 0.0, 0.31520546072496636], [0.5, 0.0, 0.3158209986176754], [0.5, 0.0, 0.31684408430089345], [0.5, 0.0, 0.31827051369609705], [0.5, 0.0, 0.3200944252989331], [0.5, 0.0, 0.32230832426539785], [0.5, 0.0, 0.32490311320975807], [0.5, 0.0, 0.32786812958766104], [0.5, 0.0, 0.33119118951081594], [0.5, 0.0, 0.33485863781320435], [0.5, 0.0, 0.33885540416308657], [0.5, 0.0, 0.34316506499022725], [0.5, 0.0, 0.34776991097386833], [0.5, 0.0, 0.35265101981412666], [0.5, 0.0, 0.35778833398778304], [0.5, 0.0, 0.3631607431689475], [0.5, 0.0, 0.36874617097591644], [0.5, 0.0, 0.37452166568776063], [0.5, 0.0, 0.38046349455786926], [0.5, 0.0, 0.3865472413368968], [0.5, 0.0, 0.39274790660436854], [0.5, 0.0, 0.39904001049666205], [0.5, 0.0, 0.4053976974092318], [0.5, 0.0, 0.41179484224283447], [0.5, 0.0, 0.41820515775716555], [0.5, 0.0, 0.4246023025907682], [0.5, 0.0, 0.4309599895033379], [0.5, 0.0, 0.4372520933956314], [0.5, 0.0, 0.44345275866310324], [0.5, 0.0, 0.44953650544213075], [0.5, 0.0, 0.4554783343122394], [0.5, 0.0, 0.4612538290240835], [0.5, 0.0, 0.46683925683105254], [0.5, 0.0, 0.472211666012217], [0.5, 0.0, 0.47734898018587335], [0.5, 0.0, 0.4822300890261317], [0.5, 0.0, 0.48683493500977276], [0.5, 0.0, 0.49114459583691344], [0.5, 0.0, 0.49514136218679566], [0.5, 0.0, 0.4988088104891841], [0.5, 0.0, 0.502131870412339], [0.5, 0.0, 0.5050968867902419], [0.5, 0.0, 0.5076916757346022], [0.5, 0.0, 0.5099055747010669], [0.5, 0.0, 0.511729486303903], [0.5, 0.0, 0.5131559156991066], [0.5, 0.0, 0.5141790013823246], [0.5, 0.0, 0.5147945392750337], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515], [0.5, 0.0, 0.515]], "grippers": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9583333333333334, 0.9166666666666666, 0.875, 0.8333333333333334, 0.7916666666666666, 0.75, 0.7083333333333333, 0.6666666666666667, 0.625, 0.5833333333333333, 0.5416666666666667, 0.5, 0.45833333333333337, 0.41666666666666663, 0.375, 0.33333333333333337, 0.29166666666666663, 0.25, 0.20833333333333337, 0.16666666666666663, 0.125, 0.08333333333333337, 0.04166666666666663, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "params": {"pre_z": 0.415, "grasp_z": 0.315, "lift_z": 0.515}}