| { | |
| "action_start": 13, | |
| "action_end": 24, | |
| "object_name": "red thing", | |
| "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, | |
| 1.0, | |
| 0.788278, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.757265, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0 | |
| ], | |
| "gripper_actions": [ | |
| [ | |
| 0.0, | |
| -2.6020852139652106e-18, | |
| 0.0, | |
| 5.339532176895563e-07, | |
| 1.3122503421197696e-07, | |
| -1.265200329165445e-08, | |
| 1.0 | |
| ], | |
| [ | |
| 0.03734118956752336, | |
| -0.017569182929937744, | |
| -0.014439105588875956, | |
| 0.008637152287805795, | |
| -0.007000810103746371, | |
| -0.04755742672051247, | |
| 1.0 | |
| ], | |
| [ | |
| 0.03943532722668791, | |
| -0.012483096490411395, | |
| -0.009223078444554028, | |
| 0.017107626011432786, | |
| -0.03171576203993055, | |
| -0.045350733457108605, | |
| 1.0 | |
| ], | |
| [ | |
| 0.03348231132521268, | |
| 0.0005291737475800438, | |
| -0.005602613864093227, | |
| 0.008914829092331976, | |
| -0.04276970179080025, | |
| 0.0022448106689300774, | |
| 1.0 | |
| ], | |
| [ | |
| 0.03363989015889701, | |
| 0.005915638952789595, | |
| -0.000914820504367482, | |
| -0.0009143633899857744, | |
| -0.04441987300967569, | |
| 0.011266996245381395, | |
| 1.0 | |
| ], | |
| [ | |
| 0.01284087670222761, | |
| 0.008110298803869275, | |
| -0.009676655221762667, | |
| 0.018879798303319338, | |
| 0.001225710671635829, | |
| 0.012813142368564883, | |
| 1.0 | |
| ], | |
| [ | |
| 0.0003126665566113296, | |
| 0.008661055265308217, | |
| -0.02383191744937751, | |
| 0.007960974420525728, | |
| 0.04216527005937578, | |
| 0.019947660371613257, | |
| 1.0 | |
| ], | |
| [ | |
| 0.002039008615327409, | |
| 0.0075512084709611575, | |
| -0.01518726708726938, | |
| 0.017800881339267598, | |
| 0.024555926624168247, | |
| 0.025185665094824235, | |
| 1.0 | |
| ], | |
| [ | |
| 0.00201433197700579, | |
| 0.005563075187204494, | |
| -0.007782751547769862, | |
| 0.019376588534679266, | |
| 0.017122068808054964, | |
| 0.007096448017817848, | |
| 1.0 | |
| ], | |
| [ | |
| -0.0013984730491811148, | |
| 0.0013830901324710142, | |
| 0.003087371335500442, | |
| 0.016025840162518575, | |
| -0.0035523618014559532, | |
| -0.003525274173113235, | |
| 1.0 | |
| ], | |
| [ | |
| -0.001268302648171793, | |
| 0.005367172604099708, | |
| 0.004915999839234672, | |
| 0.01622146386565358, | |
| -0.014095083852487037, | |
| 0.013383181345361842, | |
| 1.0 | |
| ], | |
| [ | |
| -0.005278654610527123, | |
| 0.008518008520271686, | |
| -0.009927051906801286, | |
| -0.011500216524339187, | |
| 0.02784768972040303, | |
| 0.02449413224576293, | |
| 1.0 | |
| ], | |
| [ | |
| -0.002266621372212896, | |
| 0.004581265102751203, | |
| -0.007304429760781786, | |
| -0.020763065346510567, | |
| 0.015126299670084697, | |
| 0.021653515360577816, | |
| 1.0 | |
| ], | |
| [ | |
| 0.00219433577157363, | |
| -0.00010078802403894888, | |
| -0.009622285771709628, | |
| -0.03910211379963667, | |
| 0.010455854340928345, | |
| 0.009164034902723103, | |
| 0.788278 | |
| ], | |
| [ | |
| 0.00038699866316904696, | |
| -0.0025278800396974083, | |
| -0.0020325510386143553, | |
| -0.008693328841933044, | |
| -0.006281142956338022, | |
| -0.007872037314968697, | |
| 0.0 | |
| ], | |
| [ | |
| -0.0005075335720180485, | |
| -0.0009473174347957684, | |
| -0.00047337409193026064, | |
| -0.0032530537098214647, | |
| 0.0015749693913564271, | |
| 0.00853426933117078, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0022603583923455073, | |
| -0.0016498883955906839, | |
| 0.028726974346121766, | |
| 0.01052414353315999, | |
| -0.0715678862919128, | |
| 0.0003522053490141547, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0038365567388844446, | |
| -0.002796486344413259, | |
| 0.03924101089486144, | |
| 0.010950120485970771, | |
| -0.10267303865854947, | |
| -0.0050068223523351925, | |
| 0.0 | |
| ], | |
| [ | |
| -0.01232807619102183, | |
| -0.006692317286527141, | |
| 0.00908960974965026, | |
| -0.012454815564755237, | |
| -0.01485777012447082, | |
| -0.029252920208216654, | |
| 0.0 | |
| ], | |
| [ | |
| -0.022144593240891963, | |
| -0.01325908520359595, | |
| -0.0029590396999912578, | |
| -0.02127675382987815, | |
| 0.01879879653602501, | |
| -0.03699518293084141, | |
| 0.0 | |
| ], | |
| [ | |
| -0.017906220439285636, | |
| -0.01962815089953026, | |
| -0.006428323793974729, | |
| -0.022260342757796776, | |
| 0.02715664065392486, | |
| -0.05041444890586726, | |
| 0.0 | |
| ], | |
| [ | |
| -0.007900069038641044, | |
| -0.01925262766002816, | |
| -0.0055848352418798805, | |
| -0.00804444883034434, | |
| 0.014457688937929734, | |
| -0.05345787253691799, | |
| 0.0 | |
| ], | |
| [ | |
| -0.001441824857816132, | |
| -0.012089394623454822, | |
| -0.007024308405238296, | |
| 0.004384517019531562, | |
| 0.012742038647811772, | |
| -0.04115775160207251, | |
| 0.0 | |
| ], | |
| [ | |
| -0.0010547927065902574, | |
| -0.011348384692044473, | |
| -0.011604159029722998, | |
| 0.0072524107696335365, | |
| 0.03127902759432569, | |
| -0.0380794617117496, | |
| 0.0 | |
| ], | |
| [ | |
| -0.0015587921055025267, | |
| -0.002402934041494241, | |
| -0.002202788026243906, | |
| 0.0015940258032799966, | |
| 0.009791374320604845, | |
| 0.007696004358592233, | |
| 0.757265 | |
| ], | |
| [ | |
| -0.0029274073130596268, | |
| 0.0017693147638880719, | |
| 0.003054617556264406, | |
| 0.004249440692500732, | |
| 0.005631808749867534, | |
| 0.005275732669145424, | |
| 1.0 | |
| ], | |
| [ | |
| -0.003909855831608022, | |
| -0.0021251455594356178, | |
| 0.002208103896769561, | |
| -0.004095405684765852, | |
| 0.028458518989826695, | |
| -0.026068597793050482, | |
| 1.0 | |
| ], | |
| [ | |
| -0.0018549139650065327, | |
| -0.0004615327217163956, | |
| 0.016768719141217126, | |
| -0.005182434064077167, | |
| -0.01166308039641506, | |
| -0.0006140259800811287, | |
| 1.0 | |
| ], | |
| [ | |
| -0.0033212121293960672, | |
| 0.0014329870142665777, | |
| 0.0034460167707912916, | |
| 0.0009034395342845847, | |
| 0.03439294125589905, | |
| -0.017478980394783704, | |
| 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": [ | |
| [ | |
| 320.55792236328125, | |
| 196.95314025878906 | |
| ], | |
| [ | |
| 333.704345703125, | |
| 199.16207885742188 | |
| ], | |
| [ | |
| 323.26409912109375, | |
| 218.4263916015625 | |
| ], | |
| [ | |
| 349.5450439453125, | |
| 213.87554931640625 | |
| ], | |
| [ | |
| 383.581787109375, | |
| 210.91586303710938 | |
| ], | |
| [ | |
| 395.5325012207031, | |
| 200.79354858398438 | |
| ], | |
| [ | |
| 402.77880859375, | |
| 195.0355682373047 | |
| ], | |
| [ | |
| 400.3983154296875, | |
| 208.9282684326172 | |
| ], | |
| [ | |
| 392.5622253417969, | |
| 231.9812469482422 | |
| ], | |
| [ | |
| 387.52587890625, | |
| 235.49986267089844 | |
| ], | |
| [ | |
| 384.83514404296875, | |
| 234.7557373046875 | |
| ], | |
| [ | |
| 381.1268310546875, | |
| 235.17123413085938 | |
| ], | |
| [ | |
| 378.68865966796875, | |
| 243.15345764160156 | |
| ], | |
| [ | |
| 372.98779296875, | |
| 242.17279052734375 | |
| ], | |
| [ | |
| 364.030029296875, | |
| 241.07473754882812 | |
| ], | |
| [ | |
| 363.22003173828125, | |
| 251.93743896484375 | |
| ], | |
| [ | |
| 363.9781494140625, | |
| 251.91598510742188 | |
| ], | |
| [ | |
| 363.50628662109375, | |
| 252.17662048339844 | |
| ], | |
| [ | |
| 362.4058532714844, | |
| 232.488525390625 | |
| ], | |
| [ | |
| 366.7691650390625, | |
| 195.99806213378906 | |
| ], | |
| [ | |
| 361.8494873046875, | |
| 211.50778198242188 | |
| ], | |
| [ | |
| 358.2382507324219, | |
| 220.22914123535156 | |
| ], | |
| [ | |
| 365.1322021484375, | |
| 239.22067260742188 | |
| ], | |
| [ | |
| 386.6177978515625, | |
| 252.51065063476562 | |
| ], | |
| [ | |
| 389.1328430175781, | |
| 252.94606018066406 | |
| ], | |
| [ | |
| 399.57513427734375, | |
| 261.7471923828125 | |
| ], | |
| [ | |
| 402.5205993652344, | |
| 264.5276184082031 | |
| ], | |
| [ | |
| 402.1770324707031, | |
| 266.6692199707031 | |
| ], | |
| [ | |
| 401.0012512207031, | |
| 269.3564453125 | |
| ], | |
| [ | |
| 401.30841064453125, | |
| 265.5235595703125 | |
| ], | |
| [ | |
| 403.61944580078125, | |
| 259.07806396484375 | |
| ] | |
| ], | |
| "depth_max": 1.3288637399673462, | |
| "depth_min": 0.05312614142894745, | |
| "intrinsic": [ | |
| [ | |
| 503.311767578125, | |
| 0.0, | |
| 259.0 | |
| ], | |
| [ | |
| 0.0, | |
| 502.1143493652344, | |
| 196.0 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "extrinsic": [ | |
| [ | |
| 1.0, | |
| 8.793022061581723e-06, | |
| -9.16397912078537e-05, | |
| 1.610115396033507e-05 | |
| ], | |
| [ | |
| -8.788344530330505e-06, | |
| 1.0, | |
| 5.103857984067872e-05, | |
| -2.2202142645255663e-05 | |
| ], | |
| [ | |
| 9.164024231722578e-05, | |
| -5.103777220938355e-05, | |
| 1.0, | |
| 1.620168040972203e-05 | |
| ] | |
| ], | |
| "selected_indexes": [ | |
| 0, | |
| 3, | |
| 6, | |
| 9, | |
| 12, | |
| 15, | |
| 18, | |
| 21, | |
| 24, | |
| 27, | |
| 30 | |
| ], | |
| "object_trajectory": [ | |
| [ | |
| 357.25, | |
| 261.0 | |
| ], | |
| [ | |
| 362.3240966796875, | |
| 260.5157470703125 | |
| ], | |
| [ | |
| 357.9810791015625, | |
| 260.8916015625 | |
| ], | |
| [ | |
| 357.8579406738281, | |
| 260.957275390625 | |
| ], | |
| [ | |
| 358.01043701171875, | |
| 260.85369873046875 | |
| ], | |
| [ | |
| 361.9689025878906, | |
| 261.05084228515625 | |
| ], | |
| [ | |
| 357.7259826660156, | |
| 261.31768798828125 | |
| ], | |
| [ | |
| 357.1185302734375, | |
| 261.665283203125 | |
| ], | |
| [ | |
| 357.9685974121094, | |
| 261.3985900878906 | |
| ], | |
| [ | |
| 357.7570495605469, | |
| 261.7608337402344 | |
| ], | |
| [ | |
| 357.43084716796875, | |
| 261.7043151855469 | |
| ], | |
| [ | |
| 357.42425537109375, | |
| 261.980712890625 | |
| ], | |
| [ | |
| 369.4698791503906, | |
| 263.62628173828125 | |
| ], | |
| [ | |
| 364.19940185546875, | |
| 261.39068603515625 | |
| ], | |
| [ | |
| 361.92022705078125, | |
| 259.4404296875 | |
| ], | |
| [ | |
| 358.5238342285156, | |
| 260.7642822265625 | |
| ], | |
| [ | |
| 357.79937744140625, | |
| 258.68157958984375 | |
| ], | |
| [ | |
| 358.0009765625, | |
| 261.1892395019531 | |
| ], | |
| [ | |
| 359.9872131347656, | |
| 244.87384033203125 | |
| ], | |
| [ | |
| 364.8158874511719, | |
| 201.41043090820312 | |
| ], | |
| [ | |
| 359.4569091796875, | |
| 220.49874877929688 | |
| ], | |
| [ | |
| 356.91278076171875, | |
| 229.25111389160156 | |
| ], | |
| [ | |
| 363.31219482421875, | |
| 251.90545654296875 | |
| ], | |
| [ | |
| 380.59527587890625, | |
| 258.09051513671875 | |
| ], | |
| [ | |
| 383.77484130859375, | |
| 260.21844482421875 | |
| ], | |
| [ | |
| 392.5990295410156, | |
| 276.56817626953125 | |
| ], | |
| [ | |
| 404.2012023925781, | |
| 309.923828125 | |
| ], | |
| [ | |
| 410.05413818359375, | |
| 318.96661376953125 | |
| ], | |
| [ | |
| 411.35443115234375, | |
| 319.6712646484375 | |
| ], | |
| [ | |
| 410.7202453613281, | |
| 319.8014831542969 | |
| ], | |
| [ | |
| 412.14678955078125, | |
| 320.1993408203125 | |
| ] | |
| ] | |
| } |