| { | |
| "action_start": 12, | |
| "action_end": 32, | |
| "object_name": "green object", | |
| "gripper_opens": [ | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 0.275946, | |
| 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, | |
| 0.47497, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0 | |
| ], | |
| "gripper_actions": [ | |
| [ | |
| 5.551115123125783e-17, | |
| 6.938893903907228e-18, | |
| 0.0, | |
| -2.2324218869593045e-07, | |
| -2.6282905326344385e-07, | |
| 4.2244240694256164e-08, | |
| 1.0 | |
| ], | |
| [ | |
| 0.021931497306516445, | |
| -0.010627448638804854, | |
| 0.002923752504780698, | |
| 0.01510026859167256, | |
| -0.059660664981276874, | |
| -0.05322471244057958, | |
| 1.0 | |
| ], | |
| [ | |
| 0.017433304290128293, | |
| -0.008163537744884139, | |
| -0.005386989022477737, | |
| 0.007282024898957093, | |
| -0.03920714781180008, | |
| -0.014761747857458344, | |
| 1.0 | |
| ], | |
| [ | |
| 0.019558456821931525, | |
| -0.012001260358544763, | |
| -0.005859522262890722, | |
| 0.017119116583834783, | |
| -0.05685406018743441, | |
| -0.051634522529688316, | |
| 1.0 | |
| ], | |
| [ | |
| 0.027026768611850938, | |
| -0.012541351261730935, | |
| -0.0008967213754970463, | |
| -0.024738927047932277, | |
| -0.11703611429782793, | |
| -0.014138450298699206, | |
| 1.0 | |
| ], | |
| [ | |
| 0.02623484020545669, | |
| -0.010442950957175567, | |
| 0.007392370712032269, | |
| -0.017347409153914597, | |
| -0.06268581914597392, | |
| 0.0005021102664043347, | |
| 1.0 | |
| ], | |
| [ | |
| 0.024948854336775073, | |
| -0.007716387423323437, | |
| 0.00654646292830257, | |
| -0.004815878986256736, | |
| -0.06706323064594759, | |
| 0.0021185469233044223, | |
| 1.0 | |
| ], | |
| [ | |
| 0.017626489380169308, | |
| 0.001466152735835391, | |
| -0.0020199102164833033, | |
| 0.016923779696399185, | |
| -0.017399430790284564, | |
| 0.015842994612388105, | |
| 1.0 | |
| ], | |
| [ | |
| 0.01239052089726178, | |
| 0.005399157678482966, | |
| -0.006518520660592771, | |
| 0.004319108953184098, | |
| -0.004513978928415488, | |
| 0.026616894693849688, | |
| 1.0 | |
| ], | |
| [ | |
| 0.007724345094661911, | |
| 0.001934879305818274, | |
| -0.009360615287927587, | |
| 0.0039008153021999567, | |
| 0.010292852013889058, | |
| 0.01567005002409942, | |
| 1.0 | |
| ], | |
| [ | |
| 8.826879648637931e-05, | |
| -0.00025492372134268415, | |
| -0.01177820137963339, | |
| 0.011826128914972386, | |
| 0.028967138192356582, | |
| 0.003729612593891999, | |
| 1.0 | |
| ], | |
| [ | |
| -0.0017637526814514581, | |
| 0.001642565515653574, | |
| -0.005074208141055674, | |
| 0.021088950102579742, | |
| 0.022898136406747222, | |
| 0.007605717955185717, | |
| 1.0 | |
| ], | |
| [ | |
| -0.0017293639574910147, | |
| 0.013406393048337129, | |
| 0.0024182569853727354, | |
| 0.0629591189700205, | |
| 0.007365665813048003, | |
| 0.04149774812322104, | |
| 0.275946 | |
| ], | |
| [ | |
| 0.0018099886681557376, | |
| 0.026186891077695902, | |
| 0.011477164967731527, | |
| 0.022217668520138355, | |
| -0.023948006892065724, | |
| 0.07298403693333338, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0051688943668452, | |
| 0.03153845449242924, | |
| 0.013767243402166094, | |
| 0.02468323277346831, | |
| -0.031343292488454466, | |
| 0.06683531452046822, | |
| 0.0 | |
| ], | |
| [ | |
| 0.004385911032893763, | |
| 0.017270874831735776, | |
| 0.00805285114421934, | |
| 0.01894451216145652, | |
| -0.021287340997375205, | |
| 0.021063236963421585, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0068187718694960875, | |
| 0.015144753535675577, | |
| 0.0013241179344154856, | |
| 0.01521839319947476, | |
| -0.014824512135386532, | |
| 0.018812906038643353, | |
| 0.0 | |
| ], | |
| [ | |
| 0.007060850432568433, | |
| 0.011998310400976132, | |
| -0.0014334605588535929, | |
| 0.00042836426460605157, | |
| -0.005003339257938291, | |
| 0.023136544867541523, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0028770774743286376, | |
| -0.004010551258145707, | |
| 0.003075257344961675, | |
| -0.039042143149042835, | |
| -0.014052280616920333, | |
| -0.011293036423092437, | |
| 0.0 | |
| ], | |
| [ | |
| -0.0019442869261776519, | |
| -0.012029639181774264, | |
| 0.015288548999713648, | |
| -0.019260297759423447, | |
| -0.024792886270780787, | |
| -0.02915537517130569, | |
| 0.0 | |
| ], | |
| [ | |
| -0.01335866982744871, | |
| 0.0031495814427760487, | |
| 0.008853122499447018, | |
| -0.025093607507547057, | |
| -0.0037761703787097443, | |
| 0.023786201426795082, | |
| 0.0 | |
| ], | |
| [ | |
| -0.023027177240191654, | |
| 0.015807095678158824, | |
| 0.0038319162359355986, | |
| -0.038586929942746345, | |
| 0.015644637650533342, | |
| 0.0373862209526056, | |
| 0.0 | |
| ], | |
| [ | |
| -0.020948744806518982, | |
| 0.013123293237158738, | |
| 0.00526316950426621, | |
| -0.034333092074500325, | |
| -0.018317345346935632, | |
| 0.008465347017234937, | |
| 0.0 | |
| ], | |
| [ | |
| -0.024567154257202684, | |
| 0.03225039871994421, | |
| -0.004742353018777162, | |
| 0.013256252973156916, | |
| 0.036246988424833974, | |
| 0.0773771191070015, | |
| 0.0 | |
| ], | |
| [ | |
| -0.015480683147301666, | |
| 0.04286908361684055, | |
| -0.013510703748898433, | |
| -0.010742815224729186, | |
| 0.06303569666864577, | |
| 0.09346848460219871, | |
| 0.0 | |
| ], | |
| [ | |
| -0.013792459658065193, | |
| 0.018419467778252457, | |
| -0.009250074151194106, | |
| -0.021094796273042386, | |
| 0.056499386718831375, | |
| 0.041187123876666745, | |
| 0.0 | |
| ], | |
| [ | |
| -0.011755808335204898, | |
| 0.013753853846311018, | |
| -0.0105286706886508, | |
| -0.006976217879433692, | |
| 0.04907513842593029, | |
| 0.035886053853477366, | |
| 0.0 | |
| ], | |
| [ | |
| -0.012852501089802015, | |
| 0.010161639575435436, | |
| -0.010513175291303847, | |
| -0.014576141172868222, | |
| 0.04639764960951911, | |
| 0.03300591678616879, | |
| 0.0 | |
| ], | |
| [ | |
| -0.01623039724261921, | |
| 0.012594467448778984, | |
| -0.008729583351096202, | |
| 0.013546220067611416, | |
| 0.04483965927985561, | |
| 0.04024054273944965, | |
| 0.0 | |
| ], | |
| [ | |
| -0.008481193505278983, | |
| 0.010852953649112818, | |
| -0.009777565814759756, | |
| -0.012039356180188329, | |
| 0.020303296218463752, | |
| 0.03914255252209291, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0015681452982440058, | |
| 0.0006260418307292293, | |
| -0.01029209437143671, | |
| -0.026287991041752952, | |
| 0.016299235335534658, | |
| -0.002619964068493024, | |
| 0.0 | |
| ], | |
| [ | |
| 0.003295811717597963, | |
| -9.306808693562707e-05, | |
| -0.009067616255830094, | |
| -0.016392837940940395, | |
| 0.007254868454739224, | |
| 0.00444098867060465, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0037601353247508906, | |
| -0.0006764429693555118, | |
| -0.006538670669991954, | |
| -0.014988916612115427, | |
| 0.011881325821376743, | |
| -0.005512155650300654, | |
| 0.47497 | |
| ], | |
| [ | |
| 0.007323525977760759, | |
| -0.007373652024876665, | |
| 0.010493980686687466, | |
| 0.006075030497358798, | |
| -0.021019609973936322, | |
| -0.03834378588263721, | |
| 1.0 | |
| ], | |
| [ | |
| 0.007427073621475155, | |
| -0.01161677033354011, | |
| 0.02114789516949653, | |
| 0.010429890256652873, | |
| -0.028872981401996598, | |
| -0.05199459075945269, | |
| 1.0 | |
| ], | |
| [ | |
| 0.007131572167776712, | |
| -0.012855599476948379, | |
| 0.02494022370910689, | |
| -0.004536981532559404, | |
| -0.036994100228918435, | |
| -0.08720934276617705, | |
| 1.0 | |
| ], | |
| [ | |
| 0.004667477834669531, | |
| -0.012265059745269397, | |
| 0.01002843234873256, | |
| -0.037611084479155704, | |
| 0.013286584402156229, | |
| -0.12387087646046734, | |
| 1.0 | |
| ], | |
| [ | |
| 0.0036678787662848267, | |
| -0.004139789025398674, | |
| 0.0007783651071754435, | |
| -0.005531819188205996, | |
| 0.04846410598647313, | |
| -0.1090404176104648, | |
| 1.0 | |
| ], | |
| [ | |
| -0.0001829253972608358, | |
| 0.0017784470232236893, | |
| -0.0019214425254275858, | |
| 0.07803897262300717, | |
| 0.001967982846611343, | |
| -0.02438753832212351, | |
| 1.0 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "gripper_centers": [ | |
| [ | |
| 416.36993408203125, | |
| 250.58560180664062 | |
| ], | |
| [ | |
| 415.9425048828125, | |
| 251.35897827148438 | |
| ], | |
| [ | |
| 409.0546875, | |
| 277.96234130859375 | |
| ], | |
| [ | |
| 420.848388671875, | |
| 257.0807800292969 | |
| ], | |
| [ | |
| 424.2979736328125, | |
| 259.68902587890625 | |
| ], | |
| [ | |
| 442.6240539550781, | |
| 253.9283905029297 | |
| ], | |
| [ | |
| 469.6814880371094, | |
| 243.50294494628906 | |
| ], | |
| [ | |
| 481.5735778808594, | |
| 225.96484375 | |
| ], | |
| [ | |
| 487.19891357421875, | |
| 217.0648193359375 | |
| ], | |
| [ | |
| 489.029541015625, | |
| 220.4265899658203 | |
| ], | |
| [ | |
| 490.7138366699219, | |
| 221.94314575195312 | |
| ], | |
| [ | |
| 488.5836486816406, | |
| 232.04959106445312 | |
| ], | |
| [ | |
| 487.03582763671875, | |
| 241.94476318359375 | |
| ], | |
| [ | |
| 482.88922119140625, | |
| 240.5255126953125 | |
| ], | |
| [ | |
| 453.1181945800781, | |
| 222.07566833496094 | |
| ], | |
| [ | |
| 478.5206298828125, | |
| 236.61163330078125 | |
| ], | |
| [ | |
| 488.142822265625, | |
| 246.60198974609375 | |
| ], | |
| [ | |
| 446.124267578125, | |
| 224.66220092773438 | |
| ], | |
| [ | |
| 433.8800048828125, | |
| 203.015380859375 | |
| ], | |
| [ | |
| 434.2635498046875, | |
| 190.95285034179688 | |
| ], | |
| [ | |
| 439.9477233886719, | |
| 192.42393493652344 | |
| ], | |
| [ | |
| 432.2497863769531, | |
| 208.47018432617188 | |
| ], | |
| [ | |
| 435.325439453125, | |
| 186.07325744628906 | |
| ], | |
| [ | |
| 400.31512451171875, | |
| 189.37571716308594 | |
| ], | |
| [ | |
| 361.7282409667969, | |
| 181.762939453125 | |
| ], | |
| [ | |
| 332.7904052734375, | |
| 183.5035400390625 | |
| ], | |
| [ | |
| 276.28955078125, | |
| 181.714599609375 | |
| ], | |
| [ | |
| 265.801025390625, | |
| 185.73214721679688 | |
| ], | |
| [ | |
| 257.5482177734375, | |
| 191.8243408203125 | |
| ], | |
| [ | |
| 236.76553344726562, | |
| 201.38143920898438 | |
| ], | |
| [ | |
| 216.01409912109375, | |
| 211.6051788330078 | |
| ], | |
| [ | |
| 211.60211181640625, | |
| 226.1913299560547 | |
| ], | |
| [ | |
| 215.21148681640625, | |
| 236.44854736328125 | |
| ], | |
| [ | |
| 218.20819091796875, | |
| 233.6955108642578 | |
| ], | |
| [ | |
| 220.91012573242188, | |
| 236.31689453125 | |
| ], | |
| [ | |
| 219.57199096679688, | |
| 235.53103637695312 | |
| ], | |
| [ | |
| 221.47535705566406, | |
| 230.81314086914062 | |
| ], | |
| [ | |
| 228.97340393066406, | |
| 202.91236877441406 | |
| ], | |
| [ | |
| 234.75747680664062, | |
| 186.52639770507812 | |
| ], | |
| [ | |
| 236.1522216796875, | |
| 176.1883087158203 | |
| ], | |
| [ | |
| 234.87181091308594, | |
| 177.02877807617188 | |
| ] | |
| ], | |
| "depth_max": 1.3404443264007568, | |
| "depth_min": 0.034415677189826965, | |
| "intrinsic": [ | |
| [ | |
| 507.8943176269531, | |
| 0.0, | |
| 259.0 | |
| ], | |
| [ | |
| 0.0, | |
| 506.6595764160156, | |
| 196.0 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "extrinsic": [ | |
| [ | |
| 1.0, | |
| -9.533086995361373e-06, | |
| -6.567245873156935e-05, | |
| 1.2656593753490597e-05 | |
| ], | |
| [ | |
| 9.53614835452754e-06, | |
| 1.0, | |
| 4.6619767090305686e-05, | |
| -3.406086761970073e-05 | |
| ], | |
| [ | |
| 6.567200762219727e-05, | |
| -4.6620392822660506e-05, | |
| 1.0, | |
| 6.155867595225573e-05 | |
| ] | |
| ], | |
| "selected_indexes": [ | |
| 0, | |
| 3, | |
| 6, | |
| 9, | |
| 12, | |
| 15, | |
| 18, | |
| 21, | |
| 24, | |
| 27, | |
| 30, | |
| 33, | |
| 36, | |
| 40 | |
| ], | |
| "object_trajectory": [ | |
| [ | |
| 485.75, | |
| 241.00001525878906 | |
| ], | |
| [ | |
| 485.7017517089844, | |
| 241.79144287109375 | |
| ], | |
| [ | |
| 488.1134948730469, | |
| 247.45606994628906 | |
| ], | |
| [ | |
| 490.9423828125, | |
| 245.32049560546875 | |
| ], | |
| [ | |
| 489.5636291503906, | |
| 245.63552856445312 | |
| ], | |
| [ | |
| 495.6894226074219, | |
| 244.75717163085938 | |
| ], | |
| [ | |
| 490.841064453125, | |
| 246.46792602539062 | |
| ], | |
| [ | |
| 495.1904296875, | |
| 241.6787109375 | |
| ], | |
| [ | |
| 495.492431640625, | |
| 241.99024963378906 | |
| ], | |
| [ | |
| 496.4720764160156, | |
| 242.47317504882812 | |
| ], | |
| [ | |
| 495.6382751464844, | |
| 243.15391540527344 | |
| ], | |
| [ | |
| 496.2967834472656, | |
| 247.76507568359375 | |
| ], | |
| [ | |
| 496.7794189453125, | |
| 253.99581909179688 | |
| ], | |
| [ | |
| 485.8677062988281, | |
| 254.55722045898438 | |
| ], | |
| [ | |
| 477.0595703125, | |
| 250.36534118652344 | |
| ], | |
| [ | |
| 474.25506591796875, | |
| 249.40850830078125 | |
| ], | |
| [ | |
| 465.1199645996094, | |
| 246.18728637695312 | |
| ], | |
| [ | |
| 450.55706787109375, | |
| 241.997802734375 | |
| ], | |
| [ | |
| 437.1575927734375, | |
| 220.8264617919922 | |
| ], | |
| [ | |
| 438.43536376953125, | |
| 209.71102905273438 | |
| ], | |
| [ | |
| 444.082763671875, | |
| 211.97760009765625 | |
| ], | |
| [ | |
| 437.2743225097656, | |
| 227.0835418701172 | |
| ], | |
| [ | |
| 440.8783874511719, | |
| 206.95713806152344 | |
| ], | |
| [ | |
| 408.3810119628906, | |
| 207.98983764648438 | |
| ], | |
| [ | |
| 369.6167907714844, | |
| 202.13916015625 | |
| ], | |
| [ | |
| 341.1007995605469, | |
| 203.3102264404297 | |
| ], | |
| [ | |
| 284.01416015625, | |
| 197.55718994140625 | |
| ], | |
| [ | |
| 270.7260437011719, | |
| 202.13218688964844 | |
| ], | |
| [ | |
| 264.772216796875, | |
| 208.7423858642578 | |
| ], | |
| [ | |
| 245.61236572265625, | |
| 219.02188110351562 | |
| ], | |
| [ | |
| 224.03077697753906, | |
| 229.97674560546875 | |
| ], | |
| [ | |
| 220.448974609375, | |
| 245.96554565429688 | |
| ], | |
| [ | |
| 222.13262939453125, | |
| 255.98570251464844 | |
| ], | |
| [ | |
| 225.4310302734375, | |
| 252.40048217773438 | |
| ], | |
| [ | |
| 225.26861572265625, | |
| 251.39773559570312 | |
| ], | |
| [ | |
| 212.35400390625, | |
| 254.77183532714844 | |
| ], | |
| [ | |
| 212.19427490234375, | |
| 254.598388671875 | |
| ], | |
| [ | |
| 212.9835968017578, | |
| 254.5244140625 | |
| ], | |
| [ | |
| 212.92562866210938, | |
| 255.07818603515625 | |
| ], | |
| [ | |
| 212.81195068359375, | |
| 255.24057006835938 | |
| ], | |
| [ | |
| 212.53561401367188, | |
| 255.2910919189453 | |
| ] | |
| ] | |
| } |