Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes.
See raw diff
- 000005/FAIL +1 -0
- 000010_v2/FAIL +1 -0
- 000040_v2/FAIL +1 -0
- 000060/data.json +733 -0
- 000060/lang.txt +1 -0
- 000060/object.ply +0 -0
- 000080_v2/data.json +812 -0
- 000080_v2/lang.txt +1 -0
- 000080_v2/object.ply +0 -0
- 000081/FAIL +1 -0
- 000085_v2/FAIL +1 -0
- 000095/data.json +751 -0
- 000095/lang.txt +1 -0
- 000139_v2/FAIL +1 -0
- 000154/FAIL +1 -0
- 000158_v2/FAIL +1 -0
- 000162_v2/data.json +604 -0
- 000162_v2/lang.txt +1 -0
- 000164_v2/FAIL +1 -0
- 000174/FAIL +1 -0
- 000197_v2/data.json +641 -0
- 000197_v2/lang.txt +1 -0
- 000197_v2/object.ply +0 -0
- 000213/data.json +568 -0
- 000213/lang.txt +1 -0
- 000230_v2/FAIL +1 -0
- 000231/data.json +568 -0
- 000231/lang.txt +1 -0
- 000232_v2/data.json +696 -0
- 000232_v2/lang.txt +1 -0
- 000232_v2/object.ply +0 -0
- 000257_v2/FAIL +1 -0
- 000267/data.json +476 -0
- 000267/lang.txt +1 -0
- 000285/FAIL +1 -0
- 000308/FAIL +1 -0
- 000309/data.json +476 -0
- 000309/lang.txt +1 -0
- 000321_v2/FAIL +1 -0
- 000325/FAIL +1 -0
- 000377/FAIL +1 -0
- 000393/data.json +531 -0
- 000393/lang.txt +1 -0
- 000394/FAIL +1 -0
- 000434/FAIL +1 -0
- 000448/data.json +531 -0
- 000448/lang.txt +1 -0
- 000448/object.ply +0 -0
- 000472/data.json +549 -0
- 000472/lang.txt +1 -0
000005/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Inconsistant moving trajectory between gripper and object
|
000010_v2/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Object mask too small
|
000040_v2/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Object mask too small
|
000060/data.json
ADDED
|
@@ -0,0 +1,733 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_start": 13,
|
| 3 |
+
"action_end": 28,
|
| 4 |
+
"object_name": "clothes",
|
| 5 |
+
"gripper_opens": [
|
| 6 |
+
1.0,
|
| 7 |
+
1.0,
|
| 8 |
+
1.0,
|
| 9 |
+
1.0,
|
| 10 |
+
1.0,
|
| 11 |
+
1.0,
|
| 12 |
+
1.0,
|
| 13 |
+
1.0,
|
| 14 |
+
1.0,
|
| 15 |
+
1.0,
|
| 16 |
+
1.0,
|
| 17 |
+
1.0,
|
| 18 |
+
1.0,
|
| 19 |
+
0.293285,
|
| 20 |
+
0.0,
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
0.0,
|
| 24 |
+
0.0,
|
| 25 |
+
0.0,
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0,
|
| 29 |
+
0.0,
|
| 30 |
+
0.0,
|
| 31 |
+
0.0,
|
| 32 |
+
0.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.857143,
|
| 35 |
+
1.0,
|
| 36 |
+
1.0,
|
| 37 |
+
1.0,
|
| 38 |
+
1.0,
|
| 39 |
+
1.0,
|
| 40 |
+
1.0,
|
| 41 |
+
1.0,
|
| 42 |
+
1.0
|
| 43 |
+
],
|
| 44 |
+
"gripper_actions": [
|
| 45 |
+
[
|
| 46 |
+
2.7755575615628914e-17,
|
| 47 |
+
-1.3877787807814457e-17,
|
| 48 |
+
0.0,
|
| 49 |
+
6.880809970590574e-07,
|
| 50 |
+
-1.943611089166164e-07,
|
| 51 |
+
6.618083707306799e-07,
|
| 52 |
+
1.0
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
-0.017188255610424974,
|
| 56 |
+
0.005081171098167039,
|
| 57 |
+
-0.010374325764779202,
|
| 58 |
+
-0.03722856289042223,
|
| 59 |
+
0.01317791315135175,
|
| 60 |
+
0.15000797263217588,
|
| 61 |
+
1.0
|
| 62 |
+
],
|
| 63 |
+
[
|
| 64 |
+
-0.009004436679816152,
|
| 65 |
+
0.014645817500023792,
|
| 66 |
+
-0.01563780549165411,
|
| 67 |
+
0.0067005753631264675,
|
| 68 |
+
-0.0072808003025150395,
|
| 69 |
+
0.07945387869792511,
|
| 70 |
+
1.0
|
| 71 |
+
],
|
| 72 |
+
[
|
| 73 |
+
-0.007922689749356726,
|
| 74 |
+
0.015175649498029659,
|
| 75 |
+
-0.016143976614077293,
|
| 76 |
+
-0.008943628191777693,
|
| 77 |
+
-0.04550426636478696,
|
| 78 |
+
0.04420566271920797,
|
| 79 |
+
1.0
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
-0.017403236463610028,
|
| 83 |
+
0.011189331080162013,
|
| 84 |
+
-0.0164997946300538,
|
| 85 |
+
-0.02552682552102484,
|
| 86 |
+
-0.05554009147804576,
|
| 87 |
+
0.10874278078803765,
|
| 88 |
+
1.0
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
-0.013419042574779466,
|
| 92 |
+
0.008285533702847209,
|
| 93 |
+
-0.019315087622354198,
|
| 94 |
+
-0.017801433243154897,
|
| 95 |
+
-0.018588412072116266,
|
| 96 |
+
0.13086659392834976,
|
| 97 |
+
1.0
|
| 98 |
+
],
|
| 99 |
+
[
|
| 100 |
+
0.0024317843319801857,
|
| 101 |
+
0.0016883234750318388,
|
| 102 |
+
-0.016526216530680225,
|
| 103 |
+
-0.045741984179495175,
|
| 104 |
+
-0.009183569860283214,
|
| 105 |
+
0.06323960039813069,
|
| 106 |
+
1.0
|
| 107 |
+
],
|
| 108 |
+
[
|
| 109 |
+
0.011097712316418457,
|
| 110 |
+
-0.004255905621565054,
|
| 111 |
+
-0.014119645512733762,
|
| 112 |
+
-0.011313466959913759,
|
| 113 |
+
0.0020738793738753437,
|
| 114 |
+
0.06426081729461791,
|
| 115 |
+
1.0
|
| 116 |
+
],
|
| 117 |
+
[
|
| 118 |
+
0.009583930936200497,
|
| 119 |
+
-0.005837236992123435,
|
| 120 |
+
-0.011748085676569644,
|
| 121 |
+
-0.01701827606873207,
|
| 122 |
+
0.009064633248879163,
|
| 123 |
+
0.007086484053197676,
|
| 124 |
+
1.0
|
| 125 |
+
],
|
| 126 |
+
[
|
| 127 |
+
0.011295373894796734,
|
| 128 |
+
-0.01074400503654957,
|
| 129 |
+
-0.0033248412162537053,
|
| 130 |
+
-0.01484235151394412,
|
| 131 |
+
-0.012552677013305215,
|
| 132 |
+
-0.016006202251601688,
|
| 133 |
+
1.0
|
| 134 |
+
],
|
| 135 |
+
[
|
| 136 |
+
0.00781489024119536,
|
| 137 |
+
-0.009152649339128502,
|
| 138 |
+
-0.002594785524317007,
|
| 139 |
+
-0.020950501969900913,
|
| 140 |
+
0.001827168118549278,
|
| 141 |
+
0.0008004920069001519,
|
| 142 |
+
1.0
|
| 143 |
+
],
|
| 144 |
+
[
|
| 145 |
+
0.007607355851848657,
|
| 146 |
+
-0.002657047266710691,
|
| 147 |
+
-0.006650632467524488,
|
| 148 |
+
0.009161930706723479,
|
| 149 |
+
0.007145254277181241,
|
| 150 |
+
0.02325160935433342,
|
| 151 |
+
1.0
|
| 152 |
+
],
|
| 153 |
+
[
|
| 154 |
+
0.0017367477907817286,
|
| 155 |
+
0.0015961022968685318,
|
| 156 |
+
-0.014244652962306186,
|
| 157 |
+
0.04252355296629592,
|
| 158 |
+
0.061257303187134314,
|
| 159 |
+
-0.0007822675074296522,
|
| 160 |
+
1.0
|
| 161 |
+
],
|
| 162 |
+
[
|
| 163 |
+
-0.0052417281949059535,
|
| 164 |
+
0.00197053703650632,
|
| 165 |
+
-0.007955367456413443,
|
| 166 |
+
0.06366330277806567,
|
| 167 |
+
0.04270330642074383,
|
| 168 |
+
-0.03416814884013331,
|
| 169 |
+
0.293285
|
| 170 |
+
],
|
| 171 |
+
[
|
| 172 |
+
-0.004863621772877552,
|
| 173 |
+
0.00415578680103823,
|
| 174 |
+
0.001939166914473489,
|
| 175 |
+
0.022681633784634954,
|
| 176 |
+
-0.006392941396782047,
|
| 177 |
+
-0.043353036214558854,
|
| 178 |
+
0.0
|
| 179 |
+
],
|
| 180 |
+
[
|
| 181 |
+
-0.002719097356368938,
|
| 182 |
+
0.0027520108485603045,
|
| 183 |
+
0.01851496032860022,
|
| 184 |
+
0.0038353580841723385,
|
| 185 |
+
0.0008598100288200165,
|
| 186 |
+
-0.04765978917507704,
|
| 187 |
+
0.0
|
| 188 |
+
],
|
| 189 |
+
[
|
| 190 |
+
-2.4065496636749284e-05,
|
| 191 |
+
0.0013423524267084652,
|
| 192 |
+
0.03702701814963604,
|
| 193 |
+
-0.011672150442956471,
|
| 194 |
+
-0.04487280538016258,
|
| 195 |
+
-0.016887397101170605,
|
| 196 |
+
0.0
|
| 197 |
+
],
|
| 198 |
+
[
|
| 199 |
+
0.0009512868724629031,
|
| 200 |
+
-0.002328679307598863,
|
| 201 |
+
0.037835014319418034,
|
| 202 |
+
-0.007832356672317575,
|
| 203 |
+
-0.010698903470584402,
|
| 204 |
+
-0.0185466878893061,
|
| 205 |
+
0.0
|
| 206 |
+
],
|
| 207 |
+
[
|
| 208 |
+
0.0034237707824207875,
|
| 209 |
+
-0.00910919517347887,
|
| 210 |
+
0.02846651899618305,
|
| 211 |
+
-0.01256096971936142,
|
| 212 |
+
-0.007782945563157005,
|
| 213 |
+
-0.050084766065243896,
|
| 214 |
+
0.0
|
| 215 |
+
],
|
| 216 |
+
[
|
| 217 |
+
0.00836204836201257,
|
| 218 |
+
-0.01935472455443428,
|
| 219 |
+
0.02329466576822399,
|
| 220 |
+
0.0020009291309322106,
|
| 221 |
+
-0.04676738700753716,
|
| 222 |
+
-0.11209933600942301,
|
| 223 |
+
0.0
|
| 224 |
+
],
|
| 225 |
+
[
|
| 226 |
+
0.020408557374846092,
|
| 227 |
+
-0.016260304284406973,
|
| 228 |
+
0.01753540250262875,
|
| 229 |
+
-0.006987524030232473,
|
| 230 |
+
-0.08224501955401711,
|
| 231 |
+
-0.0846077831973565,
|
| 232 |
+
0.0
|
| 233 |
+
],
|
| 234 |
+
[
|
| 235 |
+
0.032091279269642586,
|
| 236 |
+
-0.01705025133281761,
|
| 237 |
+
0.007442779210583575,
|
| 238 |
+
0.01885180671557314,
|
| 239 |
+
-0.09212507346803167,
|
| 240 |
+
-0.09808859185724106,
|
| 241 |
+
0.0
|
| 242 |
+
],
|
| 243 |
+
[
|
| 244 |
+
0.022201688868270286,
|
| 245 |
+
-0.007857907246786193,
|
| 246 |
+
0.0007151828937030924,
|
| 247 |
+
-0.003013512888981153,
|
| 248 |
+
-0.05690228942140792,
|
| 249 |
+
-0.050327405168845596,
|
| 250 |
+
0.0
|
| 251 |
+
],
|
| 252 |
+
[
|
| 253 |
+
0.02921538288540315,
|
| 254 |
+
-0.006520823257371529,
|
| 255 |
+
0.0038708735400194982,
|
| 256 |
+
-0.005594223207095377,
|
| 257 |
+
-0.07638496747139353,
|
| 258 |
+
-0.02094904235934603,
|
| 259 |
+
0.0
|
| 260 |
+
],
|
| 261 |
+
[
|
| 262 |
+
0.009717280248077609,
|
| 263 |
+
0.0012599635687437424,
|
| 264 |
+
-0.0051988073210502694,
|
| 265 |
+
0.029404508263150025,
|
| 266 |
+
-0.06782911009133602,
|
| 267 |
+
-0.0482310392971293,
|
| 268 |
+
0.0
|
| 269 |
+
],
|
| 270 |
+
[
|
| 271 |
+
0.0062875813321410234,
|
| 272 |
+
0.004568760696256797,
|
| 273 |
+
-0.008520053653614135,
|
| 274 |
+
0.024044288763099116,
|
| 275 |
+
-0.05706899051365013,
|
| 276 |
+
-0.029616619763975144,
|
| 277 |
+
0.0
|
| 278 |
+
],
|
| 279 |
+
[
|
| 280 |
+
0.009659582409722811,
|
| 281 |
+
0.00434699242854384,
|
| 282 |
+
-0.009610305881976255,
|
| 283 |
+
0.028826272252042408,
|
| 284 |
+
-0.03321614355548311,
|
| 285 |
+
-0.01939324771512898,
|
| 286 |
+
0.0
|
| 287 |
+
],
|
| 288 |
+
[
|
| 289 |
+
0.010973867047580688,
|
| 290 |
+
0.0061065640250140205,
|
| 291 |
+
-0.011295088222351507,
|
| 292 |
+
0.02716479570141534,
|
| 293 |
+
-0.03903907280871508,
|
| 294 |
+
0.0027415530707565823,
|
| 295 |
+
0.0
|
| 296 |
+
],
|
| 297 |
+
[
|
| 298 |
+
0.008422403231666264,
|
| 299 |
+
0.0035878219041408643,
|
| 300 |
+
-0.004064920410515704,
|
| 301 |
+
0.008811323237083137,
|
| 302 |
+
0.02408946197780489,
|
| 303 |
+
0.003237919987929513,
|
| 304 |
+
0.857143
|
| 305 |
+
],
|
| 306 |
+
[
|
| 307 |
+
-0.015527354700044849,
|
| 308 |
+
-0.0019514800163234688,
|
| 309 |
+
0.0015247362104506418,
|
| 310 |
+
-0.004770327478053747,
|
| 311 |
+
0.031848454053227455,
|
| 312 |
+
-0.031106963129236137,
|
| 313 |
+
1.0
|
| 314 |
+
],
|
| 315 |
+
[
|
| 316 |
+
-0.022853836429947927,
|
| 317 |
+
-0.0020740977908570296,
|
| 318 |
+
0.006161020083659582,
|
| 319 |
+
-0.007094229834228052,
|
| 320 |
+
0.002229336196884042,
|
| 321 |
+
-0.031348583675010824,
|
| 322 |
+
1.0
|
| 323 |
+
],
|
| 324 |
+
[
|
| 325 |
+
-0.020170290700680826,
|
| 326 |
+
-0.0011628871161565857,
|
| 327 |
+
0.012326933519269487,
|
| 328 |
+
-0.00505658839067645,
|
| 329 |
+
-0.005007967931279031,
|
| 330 |
+
-0.02679887408704328,
|
| 331 |
+
1.0
|
| 332 |
+
],
|
| 333 |
+
[
|
| 334 |
+
-0.01557954762977487,
|
| 335 |
+
-0.005669236836196176,
|
| 336 |
+
0.009271860541523402,
|
| 337 |
+
-0.021847047323349543,
|
| 338 |
+
0.016931859289844274,
|
| 339 |
+
-0.033491134427742666,
|
| 340 |
+
1.0
|
| 341 |
+
],
|
| 342 |
+
[
|
| 343 |
+
-0.019190417011158756,
|
| 344 |
+
-0.006942948150063459,
|
| 345 |
+
0.018250949462207885,
|
| 346 |
+
-0.05085092943930446,
|
| 347 |
+
0.04829464264712196,
|
| 348 |
+
-0.016726392708958936,
|
| 349 |
+
1.0
|
| 350 |
+
],
|
| 351 |
+
[
|
| 352 |
+
-0.00899397811369701,
|
| 353 |
+
-0.0004735293286356884,
|
| 354 |
+
0.01549052750007579,
|
| 355 |
+
-0.009486674132289017,
|
| 356 |
+
0.13045239733035893,
|
| 357 |
+
0.09197377838713455,
|
| 358 |
+
1.0
|
| 359 |
+
],
|
| 360 |
+
[
|
| 361 |
+
0.0,
|
| 362 |
+
0.0,
|
| 363 |
+
0.0,
|
| 364 |
+
0.0,
|
| 365 |
+
0.0,
|
| 366 |
+
0.0,
|
| 367 |
+
1.0
|
| 368 |
+
],
|
| 369 |
+
[
|
| 370 |
+
0.0,
|
| 371 |
+
0.0,
|
| 372 |
+
0.0,
|
| 373 |
+
0.0,
|
| 374 |
+
0.0,
|
| 375 |
+
0.0,
|
| 376 |
+
1.0
|
| 377 |
+
]
|
| 378 |
+
],
|
| 379 |
+
"gripper_centers": [
|
| 380 |
+
[
|
| 381 |
+
168.38180541992188,
|
| 382 |
+
131.06259155273438
|
| 383 |
+
],
|
| 384 |
+
[
|
| 385 |
+
168.9250030517578,
|
| 386 |
+
136.4892578125
|
| 387 |
+
],
|
| 388 |
+
[
|
| 389 |
+
167.23681640625,
|
| 390 |
+
173.8970489501953
|
| 391 |
+
],
|
| 392 |
+
[
|
| 393 |
+
134.6421356201172,
|
| 394 |
+
194.42620849609375
|
| 395 |
+
],
|
| 396 |
+
[
|
| 397 |
+
122.07586669921875,
|
| 398 |
+
213.63595581054688
|
| 399 |
+
],
|
| 400 |
+
[
|
| 401 |
+
96.198974609375,
|
| 402 |
+
246.68911743164062
|
| 403 |
+
],
|
| 404 |
+
[
|
| 405 |
+
74.75813293457031,
|
| 406 |
+
276.3999938964844
|
| 407 |
+
],
|
| 408 |
+
[
|
| 409 |
+
79.36905670166016,
|
| 410 |
+
293.82598876953125
|
| 411 |
+
],
|
| 412 |
+
[
|
| 413 |
+
93.12525939941406,
|
| 414 |
+
302.4611511230469
|
| 415 |
+
],
|
| 416 |
+
[
|
| 417 |
+
117.71483612060547,
|
| 418 |
+
307.129150390625
|
| 419 |
+
],
|
| 420 |
+
[
|
| 421 |
+
135.94581604003906,
|
| 422 |
+
305.9101867675781
|
| 423 |
+
],
|
| 424 |
+
[
|
| 425 |
+
152.58383178710938,
|
| 426 |
+
303.68243408203125
|
| 427 |
+
],
|
| 428 |
+
[
|
| 429 |
+
164.45993041992188,
|
| 430 |
+
302.4349060058594
|
| 431 |
+
],
|
| 432 |
+
[
|
| 433 |
+
168.85910034179688,
|
| 434 |
+
310.40411376953125
|
| 435 |
+
],
|
| 436 |
+
[
|
| 437 |
+
167.51559448242188,
|
| 438 |
+
315.41522216796875
|
| 439 |
+
],
|
| 440 |
+
[
|
| 441 |
+
169.65386962890625,
|
| 442 |
+
322.1202087402344
|
| 443 |
+
],
|
| 444 |
+
[
|
| 445 |
+
164.2891387939453,
|
| 446 |
+
320.06396484375
|
| 447 |
+
],
|
| 448 |
+
[
|
| 449 |
+
149.3451690673828,
|
| 450 |
+
295.2430419921875
|
| 451 |
+
],
|
| 452 |
+
[
|
| 453 |
+
127.86512756347656,
|
| 454 |
+
256.5848388671875
|
| 455 |
+
],
|
| 456 |
+
[
|
| 457 |
+
120.24665069580078,
|
| 458 |
+
223.50682067871094
|
| 459 |
+
],
|
| 460 |
+
[
|
| 461 |
+
137.2730712890625,
|
| 462 |
+
193.99359130859375
|
| 463 |
+
],
|
| 464 |
+
[
|
| 465 |
+
171.08914184570312,
|
| 466 |
+
164.79183959960938
|
| 467 |
+
],
|
| 468 |
+
[
|
| 469 |
+
207.7567596435547,
|
| 470 |
+
129.714111328125
|
| 471 |
+
],
|
| 472 |
+
[
|
| 473 |
+
264.232666015625,
|
| 474 |
+
116.23924255371094
|
| 475 |
+
],
|
| 476 |
+
[
|
| 477 |
+
285.50592041015625,
|
| 478 |
+
88.45772552490234
|
| 479 |
+
],
|
| 480 |
+
[
|
| 481 |
+
304.1085205078125,
|
| 482 |
+
74.34580993652344
|
| 483 |
+
],
|
| 484 |
+
[
|
| 485 |
+
312.5467834472656,
|
| 486 |
+
85.35890197753906
|
| 487 |
+
],
|
| 488 |
+
[
|
| 489 |
+
322.419677734375,
|
| 490 |
+
89.921875
|
| 491 |
+
],
|
| 492 |
+
[
|
| 493 |
+
322.2130126953125,
|
| 494 |
+
95.92504119873047
|
| 495 |
+
],
|
| 496 |
+
[
|
| 497 |
+
323.2850036621094,
|
| 498 |
+
107.03838348388672
|
| 499 |
+
],
|
| 500 |
+
[
|
| 501 |
+
323.1391296386719,
|
| 502 |
+
111.56805419921875
|
| 503 |
+
],
|
| 504 |
+
[
|
| 505 |
+
306.5258483886719,
|
| 506 |
+
115.23686218261719
|
| 507 |
+
],
|
| 508 |
+
[
|
| 509 |
+
283.8872985839844,
|
| 510 |
+
115.63723754882812
|
| 511 |
+
],
|
| 512 |
+
[
|
| 513 |
+
270.205078125,
|
| 514 |
+
112.44232177734375
|
| 515 |
+
],
|
| 516 |
+
[
|
| 517 |
+
266.2457275390625,
|
| 518 |
+
111.80001831054688
|
| 519 |
+
],
|
| 520 |
+
[
|
| 521 |
+
243.8499755859375,
|
| 522 |
+
91.48294067382812
|
| 523 |
+
],
|
| 524 |
+
[
|
| 525 |
+
240.83607482910156,
|
| 526 |
+
81.34855651855469
|
| 527 |
+
]
|
| 528 |
+
],
|
| 529 |
+
"depth_max": 1.2811341285705566,
|
| 530 |
+
"depth_min": 0.49062103033065796,
|
| 531 |
+
"intrinsic": [
|
| 532 |
+
[
|
| 533 |
+
532.9089965820312,
|
| 534 |
+
0.0,
|
| 535 |
+
259.0
|
| 536 |
+
],
|
| 537 |
+
[
|
| 538 |
+
0.0,
|
| 539 |
+
532.0077514648438,
|
| 540 |
+
196.0
|
| 541 |
+
],
|
| 542 |
+
[
|
| 543 |
+
0.0,
|
| 544 |
+
0.0,
|
| 545 |
+
1.0
|
| 546 |
+
]
|
| 547 |
+
],
|
| 548 |
+
"extrinsic": [
|
| 549 |
+
[
|
| 550 |
+
1.0,
|
| 551 |
+
4.300075306673534e-05,
|
| 552 |
+
6.059374936739914e-05,
|
| 553 |
+
3.8161990232765675e-05
|
| 554 |
+
],
|
| 555 |
+
[
|
| 556 |
+
-4.299910870031454e-05,
|
| 557 |
+
1.0,
|
| 558 |
+
-2.7173648049938492e-05,
|
| 559 |
+
-6.144133294583298e-06
|
| 560 |
+
],
|
| 561 |
+
[
|
| 562 |
+
-6.0594920796575025e-05,
|
| 563 |
+
2.7171043257112615e-05,
|
| 564 |
+
1.0,
|
| 565 |
+
-3.7504341889871284e-06
|
| 566 |
+
]
|
| 567 |
+
],
|
| 568 |
+
"selected_indexes": [
|
| 569 |
+
0,
|
| 570 |
+
3,
|
| 571 |
+
6,
|
| 572 |
+
9,
|
| 573 |
+
12,
|
| 574 |
+
15,
|
| 575 |
+
18,
|
| 576 |
+
21,
|
| 577 |
+
24,
|
| 578 |
+
27,
|
| 579 |
+
30,
|
| 580 |
+
33,
|
| 581 |
+
36
|
| 582 |
+
],
|
| 583 |
+
"object_trajectory": [
|
| 584 |
+
[
|
| 585 |
+
176.75,
|
| 586 |
+
310.25
|
| 587 |
+
],
|
| 588 |
+
[
|
| 589 |
+
177.151611328125,
|
| 590 |
+
310.60211181640625
|
| 591 |
+
],
|
| 592 |
+
[
|
| 593 |
+
177.16566467285156,
|
| 594 |
+
310.3648376464844
|
| 595 |
+
],
|
| 596 |
+
[
|
| 597 |
+
177.0935516357422,
|
| 598 |
+
310.4799499511719
|
| 599 |
+
],
|
| 600 |
+
[
|
| 601 |
+
177.1318817138672,
|
| 602 |
+
310.5548095703125
|
| 603 |
+
],
|
| 604 |
+
[
|
| 605 |
+
177.039306640625,
|
| 606 |
+
310.5167236328125
|
| 607 |
+
],
|
| 608 |
+
[
|
| 609 |
+
177.29295349121094,
|
| 610 |
+
310.6910400390625
|
| 611 |
+
],
|
| 612 |
+
[
|
| 613 |
+
177.6771240234375,
|
| 614 |
+
310.832763671875
|
| 615 |
+
],
|
| 616 |
+
[
|
| 617 |
+
178.53045654296875,
|
| 618 |
+
311.4709777832031
|
| 619 |
+
],
|
| 620 |
+
[
|
| 621 |
+
183.32188415527344,
|
| 622 |
+
313.48114013671875
|
| 623 |
+
],
|
| 624 |
+
[
|
| 625 |
+
186.67413330078125,
|
| 626 |
+
313.0928955078125
|
| 627 |
+
],
|
| 628 |
+
[
|
| 629 |
+
198.10879516601562,
|
| 630 |
+
312.74847412109375
|
| 631 |
+
],
|
| 632 |
+
[
|
| 633 |
+
206.08563232421875,
|
| 634 |
+
313.64599609375
|
| 635 |
+
],
|
| 636 |
+
[
|
| 637 |
+
206.4649200439453,
|
| 638 |
+
317.34844970703125
|
| 639 |
+
],
|
| 640 |
+
[
|
| 641 |
+
205.5563507080078,
|
| 642 |
+
318.31121826171875
|
| 643 |
+
],
|
| 644 |
+
[
|
| 645 |
+
204.82081604003906,
|
| 646 |
+
321.939208984375
|
| 647 |
+
],
|
| 648 |
+
[
|
| 649 |
+
195.28472900390625,
|
| 650 |
+
319.5230712890625
|
| 651 |
+
],
|
| 652 |
+
[
|
| 653 |
+
191.20782470703125,
|
| 654 |
+
310.65911865234375
|
| 655 |
+
],
|
| 656 |
+
[
|
| 657 |
+
175.7159423828125,
|
| 658 |
+
280.4294128417969
|
| 659 |
+
],
|
| 660 |
+
[
|
| 661 |
+
171.4481201171875,
|
| 662 |
+
248.72084045410156
|
| 663 |
+
],
|
| 664 |
+
[
|
| 665 |
+
190.8780517578125,
|
| 666 |
+
223.43223571777344
|
| 667 |
+
],
|
| 668 |
+
[
|
| 669 |
+
227.93179321289062,
|
| 670 |
+
197.8564453125
|
| 671 |
+
],
|
| 672 |
+
[
|
| 673 |
+
259.66259765625,
|
| 674 |
+
162.17007446289062
|
| 675 |
+
],
|
| 676 |
+
[
|
| 677 |
+
314.5958251953125,
|
| 678 |
+
149.45803833007812
|
| 679 |
+
],
|
| 680 |
+
[
|
| 681 |
+
331.5391540527344,
|
| 682 |
+
123.16551208496094
|
| 683 |
+
],
|
| 684 |
+
[
|
| 685 |
+
348.6285705566406,
|
| 686 |
+
104.62297058105469
|
| 687 |
+
],
|
| 688 |
+
[
|
| 689 |
+
356.6515197753906,
|
| 690 |
+
111.69851684570312
|
| 691 |
+
],
|
| 692 |
+
[
|
| 693 |
+
361.0287170410156,
|
| 694 |
+
112.87962341308594
|
| 695 |
+
],
|
| 696 |
+
[
|
| 697 |
+
364.1058349609375,
|
| 698 |
+
115.41031646728516
|
| 699 |
+
],
|
| 700 |
+
[
|
| 701 |
+
363.33453369140625,
|
| 702 |
+
127.195556640625
|
| 703 |
+
],
|
| 704 |
+
[
|
| 705 |
+
362.505615234375,
|
| 706 |
+
138.30149841308594
|
| 707 |
+
],
|
| 708 |
+
[
|
| 709 |
+
370.96112060546875,
|
| 710 |
+
147.51022338867188
|
| 711 |
+
],
|
| 712 |
+
[
|
| 713 |
+
371.7977294921875,
|
| 714 |
+
144.9020233154297
|
| 715 |
+
],
|
| 716 |
+
[
|
| 717 |
+
370.0277404785156,
|
| 718 |
+
151.23440551757812
|
| 719 |
+
],
|
| 720 |
+
[
|
| 721 |
+
370.71240234375,
|
| 722 |
+
150.05059814453125
|
| 723 |
+
],
|
| 724 |
+
[
|
| 725 |
+
370.56085205078125,
|
| 726 |
+
149.69786071777344
|
| 727 |
+
],
|
| 728 |
+
[
|
| 729 |
+
370.916748046875,
|
| 730 |
+
148.60894775390625
|
| 731 |
+
]
|
| 732 |
+
]
|
| 733 |
+
}
|
000060/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
put clothes in laundry machine
|
000060/object.ply
ADDED
|
Binary file (76.7 kB). View file
|
|
|
000080_v2/data.json
ADDED
|
@@ -0,0 +1,812 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_start": 17,
|
| 3 |
+
"action_end": 21,
|
| 4 |
+
"object_name": "mango with a bite",
|
| 5 |
+
"gripper_opens": [
|
| 6 |
+
1.0,
|
| 7 |
+
1.0,
|
| 8 |
+
1.0,
|
| 9 |
+
1.0,
|
| 10 |
+
1.0,
|
| 11 |
+
1.0,
|
| 12 |
+
1.0,
|
| 13 |
+
1.0,
|
| 14 |
+
1.0,
|
| 15 |
+
1.0,
|
| 16 |
+
1.0,
|
| 17 |
+
1.0,
|
| 18 |
+
1.0,
|
| 19 |
+
1.0,
|
| 20 |
+
1.0,
|
| 21 |
+
1.0,
|
| 22 |
+
1.0,
|
| 23 |
+
1.0,
|
| 24 |
+
0.0,
|
| 25 |
+
0.0,
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
1.0,
|
| 29 |
+
1.0,
|
| 30 |
+
1.0,
|
| 31 |
+
1.0,
|
| 32 |
+
1.0,
|
| 33 |
+
1.0,
|
| 34 |
+
1.0,
|
| 35 |
+
1.0,
|
| 36 |
+
1.0
|
| 37 |
+
],
|
| 38 |
+
"gripper_actions": [
|
| 39 |
+
[
|
| 40 |
+
6.039119204714893e-11,
|
| 41 |
+
-1.292036616584724e-10,
|
| 42 |
+
-8.710656154709007e-10,
|
| 43 |
+
-1.5303481327906102e-07,
|
| 44 |
+
-2.6470017967247807e-09,
|
| 45 |
+
2.828673951354078e-07,
|
| 46 |
+
1.0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
-0.021073256673711016,
|
| 50 |
+
-0.05614605186548273,
|
| 51 |
+
0.013276509702178006,
|
| 52 |
+
-0.024293449077606416,
|
| 53 |
+
-0.06130562635407849,
|
| 54 |
+
-0.09034081502821183,
|
| 55 |
+
1.0
|
| 56 |
+
],
|
| 57 |
+
[
|
| 58 |
+
-0.0071330941452317775,
|
| 59 |
+
-0.04732595319261669,
|
| 60 |
+
0.002457265966890023,
|
| 61 |
+
0.02114987741825348,
|
| 62 |
+
-0.036723576839909476,
|
| 63 |
+
-0.09051105663121502,
|
| 64 |
+
1.0
|
| 65 |
+
],
|
| 66 |
+
[
|
| 67 |
+
-0.0022928576082629215,
|
| 68 |
+
-0.0329001038992522,
|
| 69 |
+
0.015240344181437665,
|
| 70 |
+
-0.003965832650925804,
|
| 71 |
+
-0.04123630655921924,
|
| 72 |
+
-0.062352852001152065,
|
| 73 |
+
1.0
|
| 74 |
+
],
|
| 75 |
+
[
|
| 76 |
+
-0.001659986554330417,
|
| 77 |
+
-0.020945798034427955,
|
| 78 |
+
0.010897627289043352,
|
| 79 |
+
0.009715720682733757,
|
| 80 |
+
-0.02545599384695958,
|
| 81 |
+
0.007472352865728193,
|
| 82 |
+
1.0
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.00033926260269401265,
|
| 86 |
+
-0.005474039144269492,
|
| 87 |
+
-0.0011703755663409355,
|
| 88 |
+
0.02763127546065168,
|
| 89 |
+
0.006277658863476423,
|
| 90 |
+
0.04997784280692206,
|
| 91 |
+
1.0
|
| 92 |
+
],
|
| 93 |
+
[
|
| 94 |
+
0.00581457236916022,
|
| 95 |
+
0.008448572256798431,
|
| 96 |
+
-0.00389022047371676,
|
| 97 |
+
0.0012438208384034496,
|
| 98 |
+
0.00702161315406289,
|
| 99 |
+
0.072322780337334,
|
| 100 |
+
1.0
|
| 101 |
+
],
|
| 102 |
+
[
|
| 103 |
+
0.012852131115359655,
|
| 104 |
+
0.00514370035233247,
|
| 105 |
+
-0.013543232394647511,
|
| 106 |
+
-0.01795758007177572,
|
| 107 |
+
0.017243745138166847,
|
| 108 |
+
0.07565556142093807,
|
| 109 |
+
1.0
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
0.007979768963362,
|
| 113 |
+
0.006922773468209471,
|
| 114 |
+
-0.011508579919938958,
|
| 115 |
+
0.009742349236807002,
|
| 116 |
+
0.01201500606353676,
|
| 117 |
+
0.05642758975854704,
|
| 118 |
+
1.0
|
| 119 |
+
],
|
| 120 |
+
[
|
| 121 |
+
0.004974647851058556,
|
| 122 |
+
0.004931621986735482,
|
| 123 |
+
-0.01448322782432929,
|
| 124 |
+
0.007554363257579943,
|
| 125 |
+
0.0322555872971645,
|
| 126 |
+
0.030114011292912066,
|
| 127 |
+
1.0
|
| 128 |
+
],
|
| 129 |
+
[
|
| 130 |
+
0.0012211540120208308,
|
| 131 |
+
0.008562800504932397,
|
| 132 |
+
-0.005020077338418843,
|
| 133 |
+
0.033544217539558045,
|
| 134 |
+
0.023116503975247744,
|
| 135 |
+
0.026965805164994625,
|
| 136 |
+
1.0
|
| 137 |
+
],
|
| 138 |
+
[
|
| 139 |
+
-0.001447384568976029,
|
| 140 |
+
0.0073540864667075295,
|
| 141 |
+
0.007160910205039686,
|
| 142 |
+
0.031229084726921822,
|
| 143 |
+
-0.008008111444143097,
|
| 144 |
+
0.017986712836258394,
|
| 145 |
+
1.0
|
| 146 |
+
],
|
| 147 |
+
[
|
| 148 |
+
-0.0006233300339421044,
|
| 149 |
+
0.00491890400620059,
|
| 150 |
+
0.009579282251880037,
|
| 151 |
+
0.015283495787257052,
|
| 152 |
+
-0.025852771098433796,
|
| 153 |
+
0.011452244247094701,
|
| 154 |
+
1.0
|
| 155 |
+
],
|
| 156 |
+
[
|
| 157 |
+
0.00013900615246043024,
|
| 158 |
+
0.008477145459716173,
|
| 159 |
+
0.0036214514409128144,
|
| 160 |
+
0.0021078175250897582,
|
| 161 |
+
-0.00905565569225775,
|
| 162 |
+
0.03801135887868759,
|
| 163 |
+
1.0
|
| 164 |
+
],
|
| 165 |
+
[
|
| 166 |
+
-0.0026915260712426226,
|
| 167 |
+
0.008469226336636777,
|
| 168 |
+
-0.021019210426853507,
|
| 169 |
+
-0.028695353225575513,
|
| 170 |
+
0.06731775722030034,
|
| 171 |
+
0.047815093103605696,
|
| 172 |
+
1.0
|
| 173 |
+
],
|
| 174 |
+
[
|
| 175 |
+
-0.001733747425916643,
|
| 176 |
+
0.008330977165561068,
|
| 177 |
+
-0.018156880258078358,
|
| 178 |
+
-0.02352412564379302,
|
| 179 |
+
0.054496873477390816,
|
| 180 |
+
0.03640366837133886,
|
| 181 |
+
1.0
|
| 182 |
+
],
|
| 183 |
+
[
|
| 184 |
+
-0.00087005102495058,
|
| 185 |
+
0.002717589704086327,
|
| 186 |
+
-0.010612040399743547,
|
| 187 |
+
-0.010018391702621955,
|
| 188 |
+
0.025436117301051612,
|
| 189 |
+
0.017094573424671956,
|
| 190 |
+
1.0
|
| 191 |
+
],
|
| 192 |
+
[
|
| 193 |
+
-0.0028161201244940592,
|
| 194 |
+
-0.0009961838472150562,
|
| 195 |
+
-0.0070027228326629345,
|
| 196 |
+
-0.019947006713861792,
|
| 197 |
+
0.013940785327433338,
|
| 198 |
+
-0.0019254078468748208,
|
| 199 |
+
1.0
|
| 200 |
+
],
|
| 201 |
+
[
|
| 202 |
+
0.0015070468100219503,
|
| 203 |
+
-0.003887401566606538,
|
| 204 |
+
0.009868917251724105,
|
| 205 |
+
0.005146086678528481,
|
| 206 |
+
-0.04052256099651655,
|
| 207 |
+
-0.03381675190704148,
|
| 208 |
+
0.0
|
| 209 |
+
],
|
| 210 |
+
[
|
| 211 |
+
0.0007559349379281377,
|
| 212 |
+
-0.0027248380196871168,
|
| 213 |
+
0.005816484559847485,
|
| 214 |
+
-0.008101812626261003,
|
| 215 |
+
-0.0177052312956391,
|
| 216 |
+
-0.02425156034611043,
|
| 217 |
+
0.0
|
| 218 |
+
],
|
| 219 |
+
[
|
| 220 |
+
0.0008692827021236083,
|
| 221 |
+
-0.002568229042800522,
|
| 222 |
+
0.013174926074744013,
|
| 223 |
+
-0.005651532413077868,
|
| 224 |
+
-0.0393609335611804,
|
| 225 |
+
-0.020911522551181935,
|
| 226 |
+
0.0
|
| 227 |
+
],
|
| 228 |
+
[
|
| 229 |
+
0.0014842120815981574,
|
| 230 |
+
-0.003570624285999458,
|
| 231 |
+
0.019211457970204626,
|
| 232 |
+
-0.007121871895534716,
|
| 233 |
+
-0.04831176596350754,
|
| 234 |
+
-0.020622698502406406,
|
| 235 |
+
0.0
|
| 236 |
+
],
|
| 237 |
+
[
|
| 238 |
+
-0.004032721451835475,
|
| 239 |
+
-0.0019221908857828818,
|
| 240 |
+
0.015423165772052619,
|
| 241 |
+
-0.0045250147569693075,
|
| 242 |
+
-0.0169511583002776,
|
| 243 |
+
-0.05386193445237221,
|
| 244 |
+
1.0
|
| 245 |
+
],
|
| 246 |
+
[
|
| 247 |
+
-0.0013830873176078895,
|
| 248 |
+
-0.0018024777768374037,
|
| 249 |
+
0.019558540346605216,
|
| 250 |
+
0.015655436415823672,
|
| 251 |
+
-0.016946961902707967,
|
| 252 |
+
-0.06515214223304026,
|
| 253 |
+
1.0
|
| 254 |
+
],
|
| 255 |
+
[
|
| 256 |
+
0.010463017651784201,
|
| 257 |
+
0.003093283901292418,
|
| 258 |
+
0.0003917746762566593,
|
| 259 |
+
-0.028882189728521843,
|
| 260 |
+
-0.019628050419834096,
|
| 261 |
+
-0.11179399434419701,
|
| 262 |
+
1.0
|
| 263 |
+
],
|
| 264 |
+
[
|
| 265 |
+
0.0200587353260554,
|
| 266 |
+
-0.0021905876650101797,
|
| 267 |
+
-0.012186673737214708,
|
| 268 |
+
-0.037230928633843204,
|
| 269 |
+
-0.04607324285432742,
|
| 270 |
+
-0.21153325456460315,
|
| 271 |
+
1.0
|
| 272 |
+
],
|
| 273 |
+
[
|
| 274 |
+
0.008883366050537744,
|
| 275 |
+
-0.000725270784436044,
|
| 276 |
+
-0.009894700432537398,
|
| 277 |
+
-0.020397409116795055,
|
| 278 |
+
-0.005964994666624301,
|
| 279 |
+
-0.18654346435234012,
|
| 280 |
+
1.0
|
| 281 |
+
],
|
| 282 |
+
[
|
| 283 |
+
0.0018718963342038153,
|
| 284 |
+
0.002671362823962478,
|
| 285 |
+
-0.013368398286035648,
|
| 286 |
+
-0.02362640187748741,
|
| 287 |
+
0.034875337913932304,
|
| 288 |
+
-0.14388277930860388,
|
| 289 |
+
1.0
|
| 290 |
+
],
|
| 291 |
+
[
|
| 292 |
+
0.00019749486006498396,
|
| 293 |
+
0.0037879642907394373,
|
| 294 |
+
-0.013666993114440458,
|
| 295 |
+
-0.08094707934598815,
|
| 296 |
+
0.007158817214146392,
|
| 297 |
+
-0.1441258046148642,
|
| 298 |
+
1.0
|
| 299 |
+
],
|
| 300 |
+
[
|
| 301 |
+
0.00030301390458614685,
|
| 302 |
+
0.0034759050933266117,
|
| 303 |
+
-0.01316639556730876,
|
| 304 |
+
-0.0075812046261211265,
|
| 305 |
+
0.025903806959099968,
|
| 306 |
+
-0.07650873235377756,
|
| 307 |
+
1.0
|
| 308 |
+
],
|
| 309 |
+
[
|
| 310 |
+
-0.006569554078519779,
|
| 311 |
+
0.0008301519436601443,
|
| 312 |
+
-0.008267959116109218,
|
| 313 |
+
0.03429194261133308,
|
| 314 |
+
0.05637423025916091,
|
| 315 |
+
0.003544961114093464,
|
| 316 |
+
1.0
|
| 317 |
+
],
|
| 318 |
+
[
|
| 319 |
+
-0.01029951649947991,
|
| 320 |
+
-0.004252812815606029,
|
| 321 |
+
-0.008122992220663386,
|
| 322 |
+
0.03596859610177649,
|
| 323 |
+
0.05095727507041332,
|
| 324 |
+
0.003706982158306026,
|
| 325 |
+
1.0
|
| 326 |
+
],
|
| 327 |
+
[
|
| 328 |
+
-0.004167722764913173,
|
| 329 |
+
-0.005610078742354911,
|
| 330 |
+
0.005963455226440623,
|
| 331 |
+
0.009532693718695761,
|
| 332 |
+
-0.020642637596352747,
|
| 333 |
+
-0.005171714435060994,
|
| 334 |
+
0.0
|
| 335 |
+
],
|
| 336 |
+
[
|
| 337 |
+
0.0007627045524376541,
|
| 338 |
+
-0.0023247047151134445,
|
| 339 |
+
0.020258743481880614,
|
| 340 |
+
0.015784079439867423,
|
| 341 |
+
-0.053638029220754474,
|
| 342 |
+
0.012650941894210286,
|
| 343 |
+
0.0
|
| 344 |
+
],
|
| 345 |
+
[
|
| 346 |
+
-0.0008247352106561245,
|
| 347 |
+
0.017953134474474025,
|
| 348 |
+
0.03384382639539442,
|
| 349 |
+
0.04502248958171659,
|
| 350 |
+
-0.09751678169841589,
|
| 351 |
+
0.15479599922615164,
|
| 352 |
+
0.0
|
| 353 |
+
],
|
| 354 |
+
[
|
| 355 |
+
0.003097196216981124,
|
| 356 |
+
0.04222604917218443,
|
| 357 |
+
0.02568365940912124,
|
| 358 |
+
0.0054758567749799035,
|
| 359 |
+
-0.08925222280537846,
|
| 360 |
+
0.27992543828745853,
|
| 361 |
+
0.0
|
| 362 |
+
],
|
| 363 |
+
[
|
| 364 |
+
0.006900906647043292,
|
| 365 |
+
0.03177573523599312,
|
| 366 |
+
0.00295185491923183,
|
| 367 |
+
0.014993239789133809,
|
| 368 |
+
-0.03202070932606354,
|
| 369 |
+
0.1694011698346591,
|
| 370 |
+
0.0
|
| 371 |
+
],
|
| 372 |
+
[
|
| 373 |
+
0.007457000502783195,
|
| 374 |
+
0.032474728234747216,
|
| 375 |
+
-0.015322651619734283,
|
| 376 |
+
0.06495032205302204,
|
| 377 |
+
0.0828270374404476,
|
| 378 |
+
0.11627679565332029,
|
| 379 |
+
0.0
|
| 380 |
+
],
|
| 381 |
+
[
|
| 382 |
+
0.0038439040006723046,
|
| 383 |
+
0.02550487832088312,
|
| 384 |
+
-0.0036197482253644483,
|
| 385 |
+
0.014099513459533102,
|
| 386 |
+
0.013671857492304046,
|
| 387 |
+
0.05609382200480335,
|
| 388 |
+
0.0
|
| 389 |
+
],
|
| 390 |
+
[
|
| 391 |
+
-0.004745097731517933,
|
| 392 |
+
0.02242231329042274,
|
| 393 |
+
-0.004962814946165883,
|
| 394 |
+
0.010616617912669168,
|
| 395 |
+
0.010798148615907931,
|
| 396 |
+
0.05487988573067741,
|
| 397 |
+
0.0
|
| 398 |
+
],
|
| 399 |
+
[
|
| 400 |
+
-0.005344068394005086,
|
| 401 |
+
0.01963076516573148,
|
| 402 |
+
-0.005866061003734122,
|
| 403 |
+
0.01448947780850375,
|
| 404 |
+
0.025732659091963823,
|
| 405 |
+
0.039780822610988725,
|
| 406 |
+
0.0
|
| 407 |
+
],
|
| 408 |
+
[
|
| 409 |
+
-0.006140002552539936,
|
| 410 |
+
0.012032606341033536,
|
| 411 |
+
-0.005064880426337477,
|
| 412 |
+
-0.002988821027821059,
|
| 413 |
+
0.005131612986753154,
|
| 414 |
+
0.022680408168386776,
|
| 415 |
+
0.0
|
| 416 |
+
],
|
| 417 |
+
[
|
| 418 |
+
-0.002095300322997262,
|
| 419 |
+
0.005528204036575668,
|
| 420 |
+
-0.01003328896798325,
|
| 421 |
+
-0.018078061054425113,
|
| 422 |
+
0.01469933759450171,
|
| 423 |
+
0.01797389571784584,
|
| 424 |
+
0.0
|
| 425 |
+
],
|
| 426 |
+
[
|
| 427 |
+
0.00446928786460532,
|
| 428 |
+
-0.002640015959682801,
|
| 429 |
+
0.0025404704417960654,
|
| 430 |
+
-0.005856535190457683,
|
| 431 |
+
-0.018508229034713945,
|
| 432 |
+
-0.01151289424687997,
|
| 433 |
+
1.0
|
| 434 |
+
],
|
| 435 |
+
[
|
| 436 |
+
0.006438313422608977,
|
| 437 |
+
-0.01105878624739176,
|
| 438 |
+
0.011518494996862935,
|
| 439 |
+
0.008529081685965369,
|
| 440 |
+
-0.004960449066891688,
|
| 441 |
+
-0.03660922964470373,
|
| 442 |
+
1.0
|
| 443 |
+
],
|
| 444 |
+
[
|
| 445 |
+
0.008941530809956022,
|
| 446 |
+
-0.028516404962427744,
|
| 447 |
+
0.023779697295228126,
|
| 448 |
+
-0.03643962578109359,
|
| 449 |
+
0.020316722925177184,
|
| 450 |
+
-0.10024044192958219,
|
| 451 |
+
1.0
|
| 452 |
+
],
|
| 453 |
+
[
|
| 454 |
+
0.003423457367448368,
|
| 455 |
+
-0.03169284835225436,
|
| 456 |
+
0.01576111155108683,
|
| 457 |
+
-0.0144662181345723,
|
| 458 |
+
0.0012782213934613576,
|
| 459 |
+
-0.082551625277572,
|
| 460 |
+
1.0
|
| 461 |
+
],
|
| 462 |
+
[
|
| 463 |
+
-0.001259535193838368,
|
| 464 |
+
-0.017458738768727708,
|
| 465 |
+
0.006159174576795779,
|
| 466 |
+
-0.003509832600721126,
|
| 467 |
+
0.010445393422164636,
|
| 468 |
+
-0.03742042328768628,
|
| 469 |
+
1.0
|
| 470 |
+
],
|
| 471 |
+
[
|
| 472 |
+
-0.0041004925477296505,
|
| 473 |
+
-0.0026773903424378576,
|
| 474 |
+
-0.0016991307926749709,
|
| 475 |
+
0.023947155384327245,
|
| 476 |
+
0.012096760077475871,
|
| 477 |
+
0.03827306346537062,
|
| 478 |
+
1.0
|
| 479 |
+
],
|
| 480 |
+
[
|
| 481 |
+
-0.0065870376551618315,
|
| 482 |
+
0.0012381123393776505,
|
| 483 |
+
-0.007328610062943764,
|
| 484 |
+
-0.020538108863910654,
|
| 485 |
+
0.017173546017362793,
|
| 486 |
+
0.1049316674281067,
|
| 487 |
+
1.0
|
| 488 |
+
],
|
| 489 |
+
[
|
| 490 |
+
0.0,
|
| 491 |
+
0.0,
|
| 492 |
+
0.0,
|
| 493 |
+
0.0,
|
| 494 |
+
0.0,
|
| 495 |
+
0.0,
|
| 496 |
+
1.0
|
| 497 |
+
],
|
| 498 |
+
[
|
| 499 |
+
0.0,
|
| 500 |
+
0.0,
|
| 501 |
+
0.0,
|
| 502 |
+
0.0,
|
| 503 |
+
0.0,
|
| 504 |
+
0.0,
|
| 505 |
+
1.0
|
| 506 |
+
]
|
| 507 |
+
],
|
| 508 |
+
"gripper_centers": [
|
| 509 |
+
[
|
| 510 |
+
280.33087158203125,
|
| 511 |
+
216.57505798339844
|
| 512 |
+
],
|
| 513 |
+
[
|
| 514 |
+
279.4220275878906,
|
| 515 |
+
221.45387268066406
|
| 516 |
+
],
|
| 517 |
+
[
|
| 518 |
+
261.929443359375,
|
| 519 |
+
236.7265625
|
| 520 |
+
],
|
| 521 |
+
[
|
| 522 |
+
344.5931701660156,
|
| 523 |
+
276.4455871582031
|
| 524 |
+
],
|
| 525 |
+
[
|
| 526 |
+
387.034912109375,
|
| 527 |
+
299.9635925292969
|
| 528 |
+
],
|
| 529 |
+
[
|
| 530 |
+
399.64239501953125,
|
| 531 |
+
272.6045837402344
|
| 532 |
+
],
|
| 533 |
+
[
|
| 534 |
+
428.9458312988281,
|
| 535 |
+
286.7416687011719
|
| 536 |
+
],
|
| 537 |
+
[
|
| 538 |
+
432.3319396972656,
|
| 539 |
+
274.3038024902344
|
| 540 |
+
],
|
| 541 |
+
[
|
| 542 |
+
436.834716796875,
|
| 543 |
+
285.15069580078125
|
| 544 |
+
],
|
| 545 |
+
[
|
| 546 |
+
437.4906005859375,
|
| 547 |
+
294.7123718261719
|
| 548 |
+
],
|
| 549 |
+
[
|
| 550 |
+
430.4049377441406,
|
| 551 |
+
302.154052734375
|
| 552 |
+
],
|
| 553 |
+
[
|
| 554 |
+
425.4000244140625,
|
| 555 |
+
303.4978332519531
|
| 556 |
+
],
|
| 557 |
+
[
|
| 558 |
+
419.4669189453125,
|
| 559 |
+
301.6204833984375
|
| 560 |
+
],
|
| 561 |
+
[
|
| 562 |
+
414.93463134765625,
|
| 563 |
+
302.1624450683594
|
| 564 |
+
],
|
| 565 |
+
[
|
| 566 |
+
408.76104736328125,
|
| 567 |
+
306.25616455078125
|
| 568 |
+
],
|
| 569 |
+
[
|
| 570 |
+
385.3536376953125,
|
| 571 |
+
301.7335510253906
|
| 572 |
+
],
|
| 573 |
+
[
|
| 574 |
+
380.4007568359375,
|
| 575 |
+
305.6952209472656
|
| 576 |
+
],
|
| 577 |
+
[
|
| 578 |
+
377.13629150390625,
|
| 579 |
+
316.3114013671875
|
| 580 |
+
],
|
| 581 |
+
[
|
| 582 |
+
374.7065124511719,
|
| 583 |
+
316.523193359375
|
| 584 |
+
],
|
| 585 |
+
[
|
| 586 |
+
377.1755065917969,
|
| 587 |
+
319.4896545410156
|
| 588 |
+
],
|
| 589 |
+
[
|
| 590 |
+
381.68121337890625,
|
| 591 |
+
321.49090576171875
|
| 592 |
+
],
|
| 593 |
+
[
|
| 594 |
+
376.0213317871094,
|
| 595 |
+
316.56890869140625
|
| 596 |
+
],
|
| 597 |
+
[
|
| 598 |
+
369.0728759765625,
|
| 599 |
+
306.78302001953125
|
| 600 |
+
],
|
| 601 |
+
[
|
| 602 |
+
369.89947509765625,
|
| 603 |
+
286.0010681152344
|
| 604 |
+
],
|
| 605 |
+
[
|
| 606 |
+
370.2212219238281,
|
| 607 |
+
269.7928466796875
|
| 608 |
+
],
|
| 609 |
+
[
|
| 610 |
+
379.6484375,
|
| 611 |
+
261.60125732421875
|
| 612 |
+
],
|
| 613 |
+
[
|
| 614 |
+
402.13494873046875,
|
| 615 |
+
249.36727905273438
|
| 616 |
+
],
|
| 617 |
+
[
|
| 618 |
+
415.6918029785156,
|
| 619 |
+
262.54730224609375
|
| 620 |
+
],
|
| 621 |
+
[
|
| 622 |
+
419.9451904296875,
|
| 623 |
+
269.39923095703125
|
| 624 |
+
],
|
| 625 |
+
[
|
| 626 |
+
410.79437255859375,
|
| 627 |
+
281.3449401855469
|
| 628 |
+
],
|
| 629 |
+
[
|
| 630 |
+
402.3395080566406,
|
| 631 |
+
285.1207275390625
|
| 632 |
+
]
|
| 633 |
+
],
|
| 634 |
+
"depth_max": 1.3500113487243652,
|
| 635 |
+
"depth_min": 0.054489221423864365,
|
| 636 |
+
"intrinsic": [
|
| 637 |
+
[
|
| 638 |
+
499.1786193847656,
|
| 639 |
+
0.0,
|
| 640 |
+
259.0
|
| 641 |
+
],
|
| 642 |
+
[
|
| 643 |
+
0.0,
|
| 644 |
+
498.0728454589844,
|
| 645 |
+
196.0
|
| 646 |
+
],
|
| 647 |
+
[
|
| 648 |
+
0.0,
|
| 649 |
+
0.0,
|
| 650 |
+
1.0
|
| 651 |
+
]
|
| 652 |
+
],
|
| 653 |
+
"extrinsic": [
|
| 654 |
+
[
|
| 655 |
+
1.0,
|
| 656 |
+
3.36367111231084e-06,
|
| 657 |
+
-6.535614375025034e-05,
|
| 658 |
+
2.485949698893819e-05
|
| 659 |
+
],
|
| 660 |
+
[
|
| 661 |
+
-3.36076254825457e-06,
|
| 662 |
+
1.0,
|
| 663 |
+
4.450256528798491e-05,
|
| 664 |
+
-2.912310083047487e-05
|
| 665 |
+
],
|
| 666 |
+
[
|
| 667 |
+
6.535628926940262e-05,
|
| 668 |
+
-4.450234700925648e-05,
|
| 669 |
+
1.0,
|
| 670 |
+
-1.5200494090095162e-06
|
| 671 |
+
]
|
| 672 |
+
],
|
| 673 |
+
"selected_indexes": [
|
| 674 |
+
0,
|
| 675 |
+
3,
|
| 676 |
+
6,
|
| 677 |
+
9,
|
| 678 |
+
12,
|
| 679 |
+
15,
|
| 680 |
+
18,
|
| 681 |
+
21,
|
| 682 |
+
24,
|
| 683 |
+
27,
|
| 684 |
+
30
|
| 685 |
+
],
|
| 686 |
+
"object_trajectory": [
|
| 687 |
+
[
|
| 688 |
+
396.0,
|
| 689 |
+
326.5
|
| 690 |
+
],
|
| 691 |
+
[
|
| 692 |
+
396.1194763183594,
|
| 693 |
+
326.9644470214844
|
| 694 |
+
],
|
| 695 |
+
[
|
| 696 |
+
396.11993408203125,
|
| 697 |
+
326.90618896484375
|
| 698 |
+
],
|
| 699 |
+
[
|
| 700 |
+
396.1751708984375,
|
| 701 |
+
327.3658142089844
|
| 702 |
+
],
|
| 703 |
+
[
|
| 704 |
+
395.9603576660156,
|
| 705 |
+
326.87969970703125
|
| 706 |
+
],
|
| 707 |
+
[
|
| 708 |
+
396.0910339355469,
|
| 709 |
+
327.2794494628906
|
| 710 |
+
],
|
| 711 |
+
[
|
| 712 |
+
396.29144287109375,
|
| 713 |
+
327.35308837890625
|
| 714 |
+
],
|
| 715 |
+
[
|
| 716 |
+
396.09222412109375,
|
| 717 |
+
326.964111328125
|
| 718 |
+
],
|
| 719 |
+
[
|
| 720 |
+
396.09588623046875,
|
| 721 |
+
326.9206237792969
|
| 722 |
+
],
|
| 723 |
+
[
|
| 724 |
+
396.24859619140625,
|
| 725 |
+
327.09942626953125
|
| 726 |
+
],
|
| 727 |
+
[
|
| 728 |
+
396.26397705078125,
|
| 729 |
+
327.1326904296875
|
| 730 |
+
],
|
| 731 |
+
[
|
| 732 |
+
396.8350830078125,
|
| 733 |
+
326.39605712890625
|
| 734 |
+
],
|
| 735 |
+
[
|
| 736 |
+
396.2596435546875,
|
| 737 |
+
326.9699401855469
|
| 738 |
+
],
|
| 739 |
+
[
|
| 740 |
+
396.163818359375,
|
| 741 |
+
327.01226806640625
|
| 742 |
+
],
|
| 743 |
+
[
|
| 744 |
+
396.0899353027344,
|
| 745 |
+
326.73876953125
|
| 746 |
+
],
|
| 747 |
+
[
|
| 748 |
+
395.4303283691406,
|
| 749 |
+
326.9200439453125
|
| 750 |
+
],
|
| 751 |
+
[
|
| 752 |
+
384.48223876953125,
|
| 753 |
+
325.05047607421875
|
| 754 |
+
],
|
| 755 |
+
[
|
| 756 |
+
379.3045654296875,
|
| 757 |
+
319.30767822265625
|
| 758 |
+
],
|
| 759 |
+
[
|
| 760 |
+
378.3677673339844,
|
| 761 |
+
318.3507385253906
|
| 762 |
+
],
|
| 763 |
+
[
|
| 764 |
+
381.1596374511719,
|
| 765 |
+
317.0660400390625
|
| 766 |
+
],
|
| 767 |
+
[
|
| 768 |
+
387.5951843261719,
|
| 769 |
+
317.17974853515625
|
| 770 |
+
],
|
| 771 |
+
[
|
| 772 |
+
397.83380126953125,
|
| 773 |
+
314.070556640625
|
| 774 |
+
],
|
| 775 |
+
[
|
| 776 |
+
403.09954833984375,
|
| 777 |
+
305.89532470703125
|
| 778 |
+
],
|
| 779 |
+
[
|
| 780 |
+
403.47515869140625,
|
| 781 |
+
307.4222717285156
|
| 782 |
+
],
|
| 783 |
+
[
|
| 784 |
+
403.2000732421875,
|
| 785 |
+
315.0485534667969
|
| 786 |
+
],
|
| 787 |
+
[
|
| 788 |
+
405.0778503417969,
|
| 789 |
+
318.5711669921875
|
| 790 |
+
],
|
| 791 |
+
[
|
| 792 |
+
402.01409912109375,
|
| 793 |
+
318.4749755859375
|
| 794 |
+
],
|
| 795 |
+
[
|
| 796 |
+
401.09820556640625,
|
| 797 |
+
318.503662109375
|
| 798 |
+
],
|
| 799 |
+
[
|
| 800 |
+
401.20068359375,
|
| 801 |
+
317.9744567871094
|
| 802 |
+
],
|
| 803 |
+
[
|
| 804 |
+
399.5332946777344,
|
| 805 |
+
318.9031982421875
|
| 806 |
+
],
|
| 807 |
+
[
|
| 808 |
+
395.8874816894531,
|
| 809 |
+
317.55487060546875
|
| 810 |
+
]
|
| 811 |
+
]
|
| 812 |
+
}
|
000080_v2/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
the mango with a bite was taken from the right side of the burner and placed inside the pot
|
000080_v2/object.ply
ADDED
|
Binary file (40.2 kB). View file
|
|
|
000081/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Object mask too small
|
000085_v2/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Inconsistant moving trajectory between gripper and object
|
000095/data.json
ADDED
|
@@ -0,0 +1,751 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_start": 13,
|
| 3 |
+
"action_end": 30,
|
| 4 |
+
"object_name": "clothes",
|
| 5 |
+
"gripper_opens": [
|
| 6 |
+
1.0,
|
| 7 |
+
1.0,
|
| 8 |
+
1.0,
|
| 9 |
+
1.0,
|
| 10 |
+
1.0,
|
| 11 |
+
1.0,
|
| 12 |
+
1.0,
|
| 13 |
+
1.0,
|
| 14 |
+
1.0,
|
| 15 |
+
1.0,
|
| 16 |
+
1.0,
|
| 17 |
+
1.0,
|
| 18 |
+
1.0,
|
| 19 |
+
0.270818,
|
| 20 |
+
0.0,
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
0.0,
|
| 24 |
+
0.0,
|
| 25 |
+
0.0,
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0,
|
| 29 |
+
0.0,
|
| 30 |
+
0.0,
|
| 31 |
+
0.0,
|
| 32 |
+
0.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0,
|
| 37 |
+
1.0,
|
| 38 |
+
1.0,
|
| 39 |
+
1.0,
|
| 40 |
+
1.0,
|
| 41 |
+
1.0,
|
| 42 |
+
1.0,
|
| 43 |
+
1.0
|
| 44 |
+
],
|
| 45 |
+
"gripper_actions": [
|
| 46 |
+
[
|
| 47 |
+
-1.0219103341313485e-10,
|
| 48 |
+
-2.4012257460181985e-11,
|
| 49 |
+
7.795387946263332e-11,
|
| 50 |
+
-2.997309343322567e-07,
|
| 51 |
+
-1.538999139386515e-07,
|
| 52 |
+
5.560956885672713e-07,
|
| 53 |
+
1.0
|
| 54 |
+
],
|
| 55 |
+
[
|
| 56 |
+
-0.019474253099286354,
|
| 57 |
+
-0.03927911706134426,
|
| 58 |
+
-0.007516026600613471,
|
| 59 |
+
-0.044266456035175775,
|
| 60 |
+
0.027768465502112767,
|
| 61 |
+
-0.014736309178264238,
|
| 62 |
+
1.0
|
| 63 |
+
],
|
| 64 |
+
[
|
| 65 |
+
-0.020768188938176446,
|
| 66 |
+
-0.02928384182307648,
|
| 67 |
+
-0.009249847019177401,
|
| 68 |
+
-0.035942044562323576,
|
| 69 |
+
-0.004031940843361298,
|
| 70 |
+
-0.0023541521346319132,
|
| 71 |
+
1.0
|
| 72 |
+
],
|
| 73 |
+
[
|
| 74 |
+
-0.012657080769158696,
|
| 75 |
+
-0.02135705573354616,
|
| 76 |
+
-0.011606436066205664,
|
| 77 |
+
-0.06453666103474705,
|
| 78 |
+
0.012753655184717622,
|
| 79 |
+
0.023331759686672556,
|
| 80 |
+
1.0
|
| 81 |
+
],
|
| 82 |
+
[
|
| 83 |
+
-0.0069816242902209225,
|
| 84 |
+
-0.018604327522378394,
|
| 85 |
+
-0.015529864255355866,
|
| 86 |
+
0.005766228027547159,
|
| 87 |
+
0.035410296246481746,
|
| 88 |
+
-0.028239551195183395,
|
| 89 |
+
1.0
|
| 90 |
+
],
|
| 91 |
+
[
|
| 92 |
+
0.0005019750906309628,
|
| 93 |
+
-0.010134485769370441,
|
| 94 |
+
-0.014820547114452076,
|
| 95 |
+
0.017559287405967235,
|
| 96 |
+
0.013935819125311843,
|
| 97 |
+
-0.06247180414595571,
|
| 98 |
+
1.0
|
| 99 |
+
],
|
| 100 |
+
[
|
| 101 |
+
0.006210672672726569,
|
| 102 |
+
-0.007492279973120616,
|
| 103 |
+
-0.013814440328405536,
|
| 104 |
+
0.02837293822307471,
|
| 105 |
+
-0.0070741668127245645,
|
| 106 |
+
-0.014855863573818417,
|
| 107 |
+
1.0
|
| 108 |
+
],
|
| 109 |
+
[
|
| 110 |
+
0.005377017260151273,
|
| 111 |
+
-0.0021087659883071985,
|
| 112 |
+
-0.009280133464835583,
|
| 113 |
+
0.03824836830235698,
|
| 114 |
+
-0.013795424972449457,
|
| 115 |
+
-0.006607088028229248,
|
| 116 |
+
1.0
|
| 117 |
+
],
|
| 118 |
+
[
|
| 119 |
+
0.005054490875631562,
|
| 120 |
+
-0.004800579184713966,
|
| 121 |
+
-0.01497255454484988,
|
| 122 |
+
0.012778235238481706,
|
| 123 |
+
0.002433333636527557,
|
| 124 |
+
-0.0032477186803098624,
|
| 125 |
+
1.0
|
| 126 |
+
],
|
| 127 |
+
[
|
| 128 |
+
0.007477799277417485,
|
| 129 |
+
-0.005047099199611493,
|
| 130 |
+
-0.011565262968331658,
|
| 131 |
+
-0.009580000587786595,
|
| 132 |
+
-0.004864593008703136,
|
| 133 |
+
0.018442581937777088,
|
| 134 |
+
1.0
|
| 135 |
+
],
|
| 136 |
+
[
|
| 137 |
+
0.0009700863311377095,
|
| 138 |
+
-0.0006429685917948708,
|
| 139 |
+
-0.012593839577933346,
|
| 140 |
+
0.00706398580353958,
|
| 141 |
+
0.009441300572857766,
|
| 142 |
+
0.011034581797547396,
|
| 143 |
+
1.0
|
| 144 |
+
],
|
| 145 |
+
[
|
| 146 |
+
0.00028395071426770557,
|
| 147 |
+
-0.0013718407705738678,
|
| 148 |
+
-0.008631969783397475,
|
| 149 |
+
-0.003478660698313062,
|
| 150 |
+
0.0015650978320413836,
|
| 151 |
+
0.013253525078354264,
|
| 152 |
+
1.0
|
| 153 |
+
],
|
| 154 |
+
[
|
| 155 |
+
-0.0001992786759310028,
|
| 156 |
+
-0.0005456317636818864,
|
| 157 |
+
-0.010319315476045879,
|
| 158 |
+
0.004414965826395618,
|
| 159 |
+
0.007910654376518495,
|
| 160 |
+
0.0011284036237286157,
|
| 161 |
+
1.0
|
| 162 |
+
],
|
| 163 |
+
[
|
| 164 |
+
0.0010361081676940886,
|
| 165 |
+
0.00019162761394460326,
|
| 166 |
+
-0.004127659393688331,
|
| 167 |
+
0.009689045603185996,
|
| 168 |
+
-7.722420522207943e-05,
|
| 169 |
+
-0.005050162607430708,
|
| 170 |
+
0.270818
|
| 171 |
+
],
|
| 172 |
+
[
|
| 173 |
+
0.00018907646341664863,
|
| 174 |
+
-0.001597839521033373,
|
| 175 |
+
0.002651023631530143,
|
| 176 |
+
-0.005827420191374738,
|
| 177 |
+
-0.0012961332173796584,
|
| 178 |
+
-0.01126954145271568,
|
| 179 |
+
0.0
|
| 180 |
+
],
|
| 181 |
+
[
|
| 182 |
+
0.0005600395734449981,
|
| 183 |
+
0.00012642650184904736,
|
| 184 |
+
0.0040102053670611,
|
| 185 |
+
0.014081078979064382,
|
| 186 |
+
-0.012568955810519018,
|
| 187 |
+
-0.017604448477190036,
|
| 188 |
+
0.0
|
| 189 |
+
],
|
| 190 |
+
[
|
| 191 |
+
-0.0009119378461908134,
|
| 192 |
+
-0.0008256031556477667,
|
| 193 |
+
0.010283863021673105,
|
| 194 |
+
0.020615226719139585,
|
| 195 |
+
-0.05649027490767817,
|
| 196 |
+
-0.009637857716496332,
|
| 197 |
+
0.0
|
| 198 |
+
],
|
| 199 |
+
[
|
| 200 |
+
-0.002952272144394308,
|
| 201 |
+
-0.006530085426628099,
|
| 202 |
+
0.02640296075959209,
|
| 203 |
+
0.0068645574754632385,
|
| 204 |
+
-0.07326470022523211,
|
| 205 |
+
-0.024954970575639498,
|
| 206 |
+
0.0
|
| 207 |
+
],
|
| 208 |
+
[
|
| 209 |
+
-0.0017826985142416485,
|
| 210 |
+
-0.0033734589632398587,
|
| 211 |
+
0.03511949843726921,
|
| 212 |
+
-0.028318184858192316,
|
| 213 |
+
-0.062318009702814904,
|
| 214 |
+
-0.024469515081841163,
|
| 215 |
+
0.0
|
| 216 |
+
],
|
| 217 |
+
[
|
| 218 |
+
-0.0006648877713297252,
|
| 219 |
+
0.006305678779396459,
|
| 220 |
+
0.03905055069251391,
|
| 221 |
+
-0.04396827683524379,
|
| 222 |
+
-0.06384934128785276,
|
| 223 |
+
-0.009563126380702986,
|
| 224 |
+
0.0
|
| 225 |
+
],
|
| 226 |
+
[
|
| 227 |
+
0.003749939507477179,
|
| 228 |
+
0.021963279464534413,
|
| 229 |
+
0.024834267722524728,
|
| 230 |
+
0.0011553692657580304,
|
| 231 |
+
-0.09297233474758437,
|
| 232 |
+
0.008642365928056171,
|
| 233 |
+
0.0
|
| 234 |
+
],
|
| 235 |
+
[
|
| 236 |
+
0.013536913254616756,
|
| 237 |
+
0.027072872376549373,
|
| 238 |
+
0.015349398417009635,
|
| 239 |
+
-0.004620758999553067,
|
| 240 |
+
-0.07305727734184779,
|
| 241 |
+
0.03979360503235171,
|
| 242 |
+
0.0
|
| 243 |
+
],
|
| 244 |
+
[
|
| 245 |
+
0.02497926568194367,
|
| 246 |
+
0.023363540268832583,
|
| 247 |
+
0.001642929033631585,
|
| 248 |
+
0.01669571000294128,
|
| 249 |
+
-0.0499314480606463,
|
| 250 |
+
0.04609453331461254,
|
| 251 |
+
0.0
|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
0.022784617355309927,
|
| 255 |
+
0.02140708815194754,
|
| 256 |
+
-0.0006565064521001363,
|
| 257 |
+
-0.009590072384125072,
|
| 258 |
+
-0.008423608779824988,
|
| 259 |
+
0.06782526762598534,
|
| 260 |
+
0.0
|
| 261 |
+
],
|
| 262 |
+
[
|
| 263 |
+
0.01928824539075935,
|
| 264 |
+
0.005096326964960728,
|
| 265 |
+
-0.008416420477934672,
|
| 266 |
+
0.019131760901093062,
|
| 267 |
+
0.0016414936393440208,
|
| 268 |
+
0.02338374834576158,
|
| 269 |
+
0.0
|
| 270 |
+
],
|
| 271 |
+
[
|
| 272 |
+
0.018156147152251445,
|
| 273 |
+
-0.0013567462317181037,
|
| 274 |
+
-0.002254943683181923,
|
| 275 |
+
-0.005466118903927037,
|
| 276 |
+
-0.009334210579584019,
|
| 277 |
+
0.01768838181056619,
|
| 278 |
+
0.0
|
| 279 |
+
],
|
| 280 |
+
[
|
| 281 |
+
0.01512127757232773,
|
| 282 |
+
-0.0005819478448430004,
|
| 283 |
+
-0.005349265574396286,
|
| 284 |
+
-0.0048693778015848465,
|
| 285 |
+
-0.02283297609195793,
|
| 286 |
+
0.02020975639656115,
|
| 287 |
+
0.0
|
| 288 |
+
],
|
| 289 |
+
[
|
| 290 |
+
0.012473281456468033,
|
| 291 |
+
-0.0014408939983209749,
|
| 292 |
+
-0.004886313690735944,
|
| 293 |
+
0.004215149447720004,
|
| 294 |
+
-0.013093701494385135,
|
| 295 |
+
0.01472953023672414,
|
| 296 |
+
0.0
|
| 297 |
+
],
|
| 298 |
+
[
|
| 299 |
+
0.011768079958482891,
|
| 300 |
+
-0.0010453483024624169,
|
| 301 |
+
-0.003630272277963656,
|
| 302 |
+
-0.005858644620970734,
|
| 303 |
+
-0.009821079250628115,
|
| 304 |
+
0.015248518482774519,
|
| 305 |
+
0.0
|
| 306 |
+
],
|
| 307 |
+
[
|
| 308 |
+
0.010286447206614369,
|
| 309 |
+
-0.00015078366140380307,
|
| 310 |
+
-0.0029281828548506084,
|
| 311 |
+
0.0015382042856358026,
|
| 312 |
+
-0.011650078533855949,
|
| 313 |
+
0.0148355488337554,
|
| 314 |
+
0.0
|
| 315 |
+
],
|
| 316 |
+
[
|
| 317 |
+
0.007906680864852689,
|
| 318 |
+
0.000706374362772922,
|
| 319 |
+
-0.005177824173863629,
|
| 320 |
+
-0.0041256912455792626,
|
| 321 |
+
0.0021948461613403576,
|
| 322 |
+
0.018062614622265157,
|
| 323 |
+
0.0
|
| 324 |
+
],
|
| 325 |
+
[
|
| 326 |
+
-0.0010310253037143502,
|
| 327 |
+
0.0018689968872260755,
|
| 328 |
+
-0.005471847186313744,
|
| 329 |
+
-0.003994116825782147,
|
| 330 |
+
0.01691502443343155,
|
| 331 |
+
0.006682665381453198,
|
| 332 |
+
1.0
|
| 333 |
+
],
|
| 334 |
+
[
|
| 335 |
+
-0.006305105452616311,
|
| 336 |
+
-0.0016352888397942814,
|
| 337 |
+
0.0026375718611096194,
|
| 338 |
+
-0.018104939789888114,
|
| 339 |
+
-0.004936168185433043,
|
| 340 |
+
-0.020810933230228097,
|
| 341 |
+
1.0
|
| 342 |
+
],
|
| 343 |
+
[
|
| 344 |
+
-0.009360848352628182,
|
| 345 |
+
-0.0053080584956916,
|
| 346 |
+
0.010599479138614948,
|
| 347 |
+
-0.036253588916255054,
|
| 348 |
+
0.00019522116081575137,
|
| 349 |
+
-0.025448009749197906,
|
| 350 |
+
1.0
|
| 351 |
+
],
|
| 352 |
+
[
|
| 353 |
+
-0.008284142159741437,
|
| 354 |
+
-0.008240439370024588,
|
| 355 |
+
0.008810225295775798,
|
| 356 |
+
-0.01095458630552714,
|
| 357 |
+
-0.0055532811979248555,
|
| 358 |
+
-0.021119336737383993,
|
| 359 |
+
1.0
|
| 360 |
+
],
|
| 361 |
+
[
|
| 362 |
+
-0.00999774677518267,
|
| 363 |
+
-0.014576700044426879,
|
| 364 |
+
0.00859863430742322,
|
| 365 |
+
-0.016799635830245012,
|
| 366 |
+
0.010293631450885094,
|
| 367 |
+
-0.034886030297542725,
|
| 368 |
+
1.0
|
| 369 |
+
],
|
| 370 |
+
[
|
| 371 |
+
-0.021138840036655504,
|
| 372 |
+
-0.019812109398796632,
|
| 373 |
+
0.011043392707935362,
|
| 374 |
+
-0.03063117939185239,
|
| 375 |
+
0.03429583890778056,
|
| 376 |
+
-0.04525276778982985,
|
| 377 |
+
1.0
|
| 378 |
+
],
|
| 379 |
+
[
|
| 380 |
+
-0.020974243113774882,
|
| 381 |
+
-0.015033880891010883,
|
| 382 |
+
0.005867898536217053,
|
| 383 |
+
-0.02078568892999602,
|
| 384 |
+
0.03367989576809302,
|
| 385 |
+
-0.04786493611719762,
|
| 386 |
+
1.0
|
| 387 |
+
]
|
| 388 |
+
],
|
| 389 |
+
"gripper_centers": [
|
| 390 |
+
[
|
| 391 |
+
279.23895263671875,
|
| 392 |
+
126.28099060058594
|
| 393 |
+
],
|
| 394 |
+
[
|
| 395 |
+
278.6727294921875,
|
| 396 |
+
128.50909423828125
|
| 397 |
+
],
|
| 398 |
+
[
|
| 399 |
+
295.6983947753906,
|
| 400 |
+
181.46978759765625
|
| 401 |
+
],
|
| 402 |
+
[
|
| 403 |
+
345.05596923828125,
|
| 404 |
+
240.1282196044922
|
| 405 |
+
],
|
| 406 |
+
[
|
| 407 |
+
345.78955078125,
|
| 408 |
+
267.97052001953125
|
| 409 |
+
],
|
| 410 |
+
[
|
| 411 |
+
376.599365234375,
|
| 412 |
+
306.1017150878906
|
| 413 |
+
],
|
| 414 |
+
[
|
| 415 |
+
391.3104248046875,
|
| 416 |
+
331.29351806640625
|
| 417 |
+
],
|
| 418 |
+
[
|
| 419 |
+
402.137939453125,
|
| 420 |
+
349.00018310546875
|
| 421 |
+
],
|
| 422 |
+
[
|
| 423 |
+
408.525146484375,
|
| 424 |
+
357.1863708496094
|
| 425 |
+
],
|
| 426 |
+
[
|
| 427 |
+
415.85943603515625,
|
| 428 |
+
363.7578125
|
| 429 |
+
],
|
| 430 |
+
[
|
| 431 |
+
427.722412109375,
|
| 432 |
+
366.6946716308594
|
| 433 |
+
],
|
| 434 |
+
[
|
| 435 |
+
426.62030029296875,
|
| 436 |
+
377.5421142578125
|
| 437 |
+
],
|
| 438 |
+
[
|
| 439 |
+
428.0824890136719,
|
| 440 |
+
385.3301086425781
|
| 441 |
+
],
|
| 442 |
+
[
|
| 443 |
+
429.271728515625,
|
| 444 |
+
392.422607421875
|
| 445 |
+
],
|
| 446 |
+
[
|
| 447 |
+
429.4877014160156,
|
| 448 |
+
394.6405334472656
|
| 449 |
+
],
|
| 450 |
+
[
|
| 451 |
+
428.86553955078125,
|
| 452 |
+
396.2264099121094
|
| 453 |
+
],
|
| 454 |
+
[
|
| 455 |
+
427.52056884765625,
|
| 456 |
+
394.2066345214844
|
| 457 |
+
],
|
| 458 |
+
[
|
| 459 |
+
429.3217468261719,
|
| 460 |
+
392.6123962402344
|
| 461 |
+
],
|
| 462 |
+
[
|
| 463 |
+
437.76116943359375,
|
| 464 |
+
379.2425537109375
|
| 465 |
+
],
|
| 466 |
+
[
|
| 467 |
+
449.5345764160156,
|
| 468 |
+
361.40484619140625
|
| 469 |
+
],
|
| 470 |
+
[
|
| 471 |
+
453.853759765625,
|
| 472 |
+
322.90997314453125
|
| 473 |
+
],
|
| 474 |
+
[
|
| 475 |
+
423.8997497558594,
|
| 476 |
+
277.06158447265625
|
| 477 |
+
],
|
| 478 |
+
[
|
| 479 |
+
393.2914733886719,
|
| 480 |
+
231.52532958984375
|
| 481 |
+
],
|
| 482 |
+
[
|
| 483 |
+
406.6355285644531,
|
| 484 |
+
190.78472900390625
|
| 485 |
+
],
|
| 486 |
+
[
|
| 487 |
+
354.7454833984375,
|
| 488 |
+
159.28219604492188
|
| 489 |
+
],
|
| 490 |
+
[
|
| 491 |
+
344.50311279296875,
|
| 492 |
+
140.98788452148438
|
| 493 |
+
],
|
| 494 |
+
[
|
| 495 |
+
360.12188720703125,
|
| 496 |
+
129.96865844726562
|
| 497 |
+
],
|
| 498 |
+
[
|
| 499 |
+
413.52288818359375,
|
| 500 |
+
120.35118103027344
|
| 501 |
+
],
|
| 502 |
+
[
|
| 503 |
+
419.3241882324219,
|
| 504 |
+
115.3026123046875
|
| 505 |
+
],
|
| 506 |
+
[
|
| 507 |
+
426.447998046875,
|
| 508 |
+
111.17686462402344
|
| 509 |
+
],
|
| 510 |
+
[
|
| 511 |
+
431.9573669433594,
|
| 512 |
+
106.19337463378906
|
| 513 |
+
],
|
| 514 |
+
[
|
| 515 |
+
437.80047607421875,
|
| 516 |
+
107.87445068359375
|
| 517 |
+
],
|
| 518 |
+
[
|
| 519 |
+
402.0940246582031,
|
| 520 |
+
116.75859069824219
|
| 521 |
+
],
|
| 522 |
+
[
|
| 523 |
+
404.033203125,
|
| 524 |
+
121.19329833984375
|
| 525 |
+
],
|
| 526 |
+
[
|
| 527 |
+
409.871826171875,
|
| 528 |
+
122.02194213867188
|
| 529 |
+
],
|
| 530 |
+
[
|
| 531 |
+
412.82275390625,
|
| 532 |
+
114.8563232421875
|
| 533 |
+
],
|
| 534 |
+
[
|
| 535 |
+
415.8609313964844,
|
| 536 |
+
111.98423767089844
|
| 537 |
+
],
|
| 538 |
+
[
|
| 539 |
+
437.9891662597656,
|
| 540 |
+
121.4031982421875
|
| 541 |
+
]
|
| 542 |
+
],
|
| 543 |
+
"depth_max": 1.824504017829895,
|
| 544 |
+
"depth_min": 0.1782764047384262,
|
| 545 |
+
"intrinsic": [
|
| 546 |
+
[
|
| 547 |
+
556.6663818359375,
|
| 548 |
+
0.0,
|
| 549 |
+
259.0
|
| 550 |
+
],
|
| 551 |
+
[
|
| 552 |
+
0.0,
|
| 553 |
+
555.7880249023438,
|
| 554 |
+
196.0
|
| 555 |
+
],
|
| 556 |
+
[
|
| 557 |
+
0.0,
|
| 558 |
+
0.0,
|
| 559 |
+
1.0
|
| 560 |
+
]
|
| 561 |
+
],
|
| 562 |
+
"extrinsic": [
|
| 563 |
+
[
|
| 564 |
+
1.0,
|
| 565 |
+
3.089693927904591e-05,
|
| 566 |
+
1.8740814994089305e-05,
|
| 567 |
+
4.168876330368221e-05
|
| 568 |
+
],
|
| 569 |
+
[
|
| 570 |
+
-3.089721576543525e-05,
|
| 571 |
+
1.0,
|
| 572 |
+
1.4804619240749162e-05,
|
| 573 |
+
-3.0375565984286368e-05
|
| 574 |
+
],
|
| 575 |
+
[
|
| 576 |
+
-1.8740356608759612e-05,
|
| 577 |
+
-1.4805198588874191e-05,
|
| 578 |
+
1.0,
|
| 579 |
+
-5.138903725310229e-05
|
| 580 |
+
]
|
| 581 |
+
],
|
| 582 |
+
"selected_indexes": [
|
| 583 |
+
0,
|
| 584 |
+
3,
|
| 585 |
+
6,
|
| 586 |
+
9,
|
| 587 |
+
12,
|
| 588 |
+
15,
|
| 589 |
+
18,
|
| 590 |
+
21,
|
| 591 |
+
24,
|
| 592 |
+
27,
|
| 593 |
+
30,
|
| 594 |
+
33,
|
| 595 |
+
37
|
| 596 |
+
],
|
| 597 |
+
"object_trajectory": [
|
| 598 |
+
[
|
| 599 |
+
459.0,
|
| 600 |
+
403.5
|
| 601 |
+
],
|
| 602 |
+
[
|
| 603 |
+
459.015625,
|
| 604 |
+
403.6817626953125
|
| 605 |
+
],
|
| 606 |
+
[
|
| 607 |
+
458.8963623046875,
|
| 608 |
+
403.6958312988281
|
| 609 |
+
],
|
| 610 |
+
[
|
| 611 |
+
458.9176025390625,
|
| 612 |
+
403.4307861328125
|
| 613 |
+
],
|
| 614 |
+
[
|
| 615 |
+
458.89300537109375,
|
| 616 |
+
403.51495361328125
|
| 617 |
+
],
|
| 618 |
+
[
|
| 619 |
+
458.89862060546875,
|
| 620 |
+
403.31341552734375
|
| 621 |
+
],
|
| 622 |
+
[
|
| 623 |
+
458.9686279296875,
|
| 624 |
+
403.3658142089844
|
| 625 |
+
],
|
| 626 |
+
[
|
| 627 |
+
458.95843505859375,
|
| 628 |
+
403.408935546875
|
| 629 |
+
],
|
| 630 |
+
[
|
| 631 |
+
458.8825378417969,
|
| 632 |
+
403.3384094238281
|
| 633 |
+
],
|
| 634 |
+
[
|
| 635 |
+
458.8408203125,
|
| 636 |
+
403.4582214355469
|
| 637 |
+
],
|
| 638 |
+
[
|
| 639 |
+
458.5657653808594,
|
| 640 |
+
403.71807861328125
|
| 641 |
+
],
|
| 642 |
+
[
|
| 643 |
+
457.9494934082031,
|
| 644 |
+
404.65960693359375
|
| 645 |
+
],
|
| 646 |
+
[
|
| 647 |
+
459.06689453125,
|
| 648 |
+
406.20233154296875
|
| 649 |
+
],
|
| 650 |
+
[
|
| 651 |
+
458.96807861328125,
|
| 652 |
+
409.9346923828125
|
| 653 |
+
],
|
| 654 |
+
[
|
| 655 |
+
456.03839111328125,
|
| 656 |
+
410.85870361328125
|
| 657 |
+
],
|
| 658 |
+
[
|
| 659 |
+
444.4520263671875,
|
| 660 |
+
417.0683288574219
|
| 661 |
+
],
|
| 662 |
+
[
|
| 663 |
+
444.37725830078125,
|
| 664 |
+
417.807373046875
|
| 665 |
+
],
|
| 666 |
+
[
|
| 667 |
+
445.492919921875,
|
| 668 |
+
412.8461608886719
|
| 669 |
+
],
|
| 670 |
+
[
|
| 671 |
+
454.03131103515625,
|
| 672 |
+
397.636474609375
|
| 673 |
+
],
|
| 674 |
+
[
|
| 675 |
+
465.44183349609375,
|
| 676 |
+
381.4468078613281
|
| 677 |
+
],
|
| 678 |
+
[
|
| 679 |
+
472.1050109863281,
|
| 680 |
+
359.20123291015625
|
| 681 |
+
],
|
| 682 |
+
[
|
| 683 |
+
438.13421630859375,
|
| 684 |
+
330.5056457519531
|
| 685 |
+
],
|
| 686 |
+
[
|
| 687 |
+
410.5179138183594,
|
| 688 |
+
280.1726379394531
|
| 689 |
+
],
|
| 690 |
+
[
|
| 691 |
+
382.211669921875,
|
| 692 |
+
245.98611450195312
|
| 693 |
+
],
|
| 694 |
+
[
|
| 695 |
+
379.4649963378906,
|
| 696 |
+
210.8973388671875
|
| 697 |
+
],
|
| 698 |
+
[
|
| 699 |
+
369.7309875488281,
|
| 700 |
+
190.36407470703125
|
| 701 |
+
],
|
| 702 |
+
[
|
| 703 |
+
382.73895263671875,
|
| 704 |
+
181.3238067626953
|
| 705 |
+
],
|
| 706 |
+
[
|
| 707 |
+
389.16632080078125,
|
| 708 |
+
182.3584442138672
|
| 709 |
+
],
|
| 710 |
+
[
|
| 711 |
+
398.89276123046875,
|
| 712 |
+
181.74948120117188
|
| 713 |
+
],
|
| 714 |
+
[
|
| 715 |
+
409.70867919921875,
|
| 716 |
+
175.01034545898438
|
| 717 |
+
],
|
| 718 |
+
[
|
| 719 |
+
409.7215881347656,
|
| 720 |
+
175.01397705078125
|
| 721 |
+
],
|
| 722 |
+
[
|
| 723 |
+
418.4136047363281,
|
| 724 |
+
235.26272583007812
|
| 725 |
+
],
|
| 726 |
+
[
|
| 727 |
+
420.26727294921875,
|
| 728 |
+
190.47096252441406
|
| 729 |
+
],
|
| 730 |
+
[
|
| 731 |
+
425.11236572265625,
|
| 732 |
+
248.0438232421875
|
| 733 |
+
],
|
| 734 |
+
[
|
| 735 |
+
425.102294921875,
|
| 736 |
+
216.5335693359375
|
| 737 |
+
],
|
| 738 |
+
[
|
| 739 |
+
425.3900451660156,
|
| 740 |
+
220.37725830078125
|
| 741 |
+
],
|
| 742 |
+
[
|
| 743 |
+
431.0758361816406,
|
| 744 |
+
240.94615173339844
|
| 745 |
+
],
|
| 746 |
+
[
|
| 747 |
+
433.3623352050781,
|
| 748 |
+
252.4784698486328
|
| 749 |
+
]
|
| 750 |
+
]
|
| 751 |
+
}
|
000095/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
put clothes in laundry machine
|
000139_v2/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Object mask too small
|
000154/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Object bbox detection failed
|
000158_v2/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Object movement too small
|
000162_v2/data.json
ADDED
|
@@ -0,0 +1,604 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_start": 11,
|
| 3 |
+
"action_end": 21,
|
| 4 |
+
"object_name": "banana",
|
| 5 |
+
"gripper_opens": [
|
| 6 |
+
1.0,
|
| 7 |
+
1.0,
|
| 8 |
+
1.0,
|
| 9 |
+
1.0,
|
| 10 |
+
1.0,
|
| 11 |
+
1.0,
|
| 12 |
+
1.0,
|
| 13 |
+
1.0,
|
| 14 |
+
1.0,
|
| 15 |
+
1.0,
|
| 16 |
+
1.0,
|
| 17 |
+
0.908913,
|
| 18 |
+
0.0,
|
| 19 |
+
0.0,
|
| 20 |
+
0.0,
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
0.0,
|
| 24 |
+
0.0,
|
| 25 |
+
0.0,
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
1.0,
|
| 29 |
+
1.0,
|
| 30 |
+
1.0,
|
| 31 |
+
1.0,
|
| 32 |
+
1.0,
|
| 33 |
+
1.0,
|
| 34 |
+
1.0,
|
| 35 |
+
1.0
|
| 36 |
+
],
|
| 37 |
+
"gripper_actions": [
|
| 38 |
+
[
|
| 39 |
+
-5.551115123125783e-17,
|
| 40 |
+
-2.7755575615628914e-17,
|
| 41 |
+
-1.3877787807814457e-17,
|
| 42 |
+
7.30776661957569e-07,
|
| 43 |
+
-2.4132423051326717e-07,
|
| 44 |
+
-1.6222092052338632e-07,
|
| 45 |
+
1.0
|
| 46 |
+
],
|
| 47 |
+
[
|
| 48 |
+
0.007668057938047368,
|
| 49 |
+
-0.028861743409866865,
|
| 50 |
+
-0.003544086838717722,
|
| 51 |
+
-0.03291443602391764,
|
| 52 |
+
-0.00643498041633337,
|
| 53 |
+
-0.09136445359661592,
|
| 54 |
+
1.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.007735077881014518,
|
| 58 |
+
-0.02847740212838442,
|
| 59 |
+
-0.006823206059186113,
|
| 60 |
+
0.014014733998189798,
|
| 61 |
+
-0.020819229587494926,
|
| 62 |
+
-0.030605735240145295,
|
| 63 |
+
1.0
|
| 64 |
+
],
|
| 65 |
+
[
|
| 66 |
+
0.010914840091735822,
|
| 67 |
+
-0.027450589040890132,
|
| 68 |
+
-0.012118863890547178,
|
| 69 |
+
-0.08185373893597274,
|
| 70 |
+
0.007669320082597146,
|
| 71 |
+
-0.08509053249344553,
|
| 72 |
+
1.0
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.003514352987152858,
|
| 76 |
+
-0.02308463796737398,
|
| 77 |
+
-0.009107762613486847,
|
| 78 |
+
-0.019243466794047523,
|
| 79 |
+
0.016306288913804343,
|
| 80 |
+
-0.05413831434137533,
|
| 81 |
+
1.0
|
| 82 |
+
],
|
| 83 |
+
[
|
| 84 |
+
-0.001200529289052954,
|
| 85 |
+
-0.00504058888403372,
|
| 86 |
+
-0.009550100254784996,
|
| 87 |
+
0.010803209889248218,
|
| 88 |
+
0.026785610685551058,
|
| 89 |
+
0.004678605025840196,
|
| 90 |
+
1.0
|
| 91 |
+
],
|
| 92 |
+
[
|
| 93 |
+
-0.0033642106506054925,
|
| 94 |
+
-0.008972688950537551,
|
| 95 |
+
-0.007780639738112615,
|
| 96 |
+
0.011275168878850408,
|
| 97 |
+
0.027418260748008228,
|
| 98 |
+
-0.03136762133629274,
|
| 99 |
+
1.0
|
| 100 |
+
],
|
| 101 |
+
[
|
| 102 |
+
-0.00464177679975214,
|
| 103 |
+
-0.008149604364918697,
|
| 104 |
+
-0.0066066971392293615,
|
| 105 |
+
0.0239216170842092,
|
| 106 |
+
0.021922239405637915,
|
| 107 |
+
-0.033341017329832454,
|
| 108 |
+
1.0
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-0.005161065576080481,
|
| 112 |
+
-0.004471092852977074,
|
| 113 |
+
-0.004824793779066234,
|
| 114 |
+
0.025793504835310545,
|
| 115 |
+
0.0216510575956904,
|
| 116 |
+
-0.018468600348910517,
|
| 117 |
+
1.0
|
| 118 |
+
],
|
| 119 |
+
[
|
| 120 |
+
-0.004032735070825855,
|
| 121 |
+
-0.003418788828645894,
|
| 122 |
+
-0.009218860877683609,
|
| 123 |
+
0.0378225017608917,
|
| 124 |
+
0.026172669028456472,
|
| 125 |
+
-0.019384143122723983,
|
| 126 |
+
1.0
|
| 127 |
+
],
|
| 128 |
+
[
|
| 129 |
+
-0.0013962456329175144,
|
| 130 |
+
-0.00043994318253898906,
|
| 131 |
+
-0.007572131260313093,
|
| 132 |
+
0.04018925321641244,
|
| 133 |
+
0.015925853060271892,
|
| 134 |
+
0.006656926705784147,
|
| 135 |
+
1.0
|
| 136 |
+
],
|
| 137 |
+
[
|
| 138 |
+
-0.0008951643060989278,
|
| 139 |
+
-3.5799760162852357e-05,
|
| 140 |
+
-0.007425611152307637,
|
| 141 |
+
0.03255292927184382,
|
| 142 |
+
0.024367919183594978,
|
| 143 |
+
0.005428302454897984,
|
| 144 |
+
0.908913
|
| 145 |
+
],
|
| 146 |
+
[
|
| 147 |
+
0.0009327991178679773,
|
| 148 |
+
0.0024373418398862465,
|
| 149 |
+
0.0058511868112092365,
|
| 150 |
+
-0.008105811608218312,
|
| 151 |
+
-0.020761875364879476,
|
| 152 |
+
-0.017230826974464417,
|
| 153 |
+
0.0
|
| 154 |
+
],
|
| 155 |
+
[
|
| 156 |
+
0.005558431062740399,
|
| 157 |
+
0.008006397144126168,
|
| 158 |
+
0.0238637289542415,
|
| 159 |
+
-0.011664456610902372,
|
| 160 |
+
-0.0680967746217253,
|
| 161 |
+
0.003085840207571338,
|
| 162 |
+
0.0
|
| 163 |
+
],
|
| 164 |
+
[
|
| 165 |
+
0.01429156379336921,
|
| 166 |
+
0.01983645241298765,
|
| 167 |
+
0.04526633885955675,
|
| 168 |
+
0.016654593072152835,
|
| 169 |
+
-0.13344986727323557,
|
| 170 |
+
0.063505247957852,
|
| 171 |
+
0.0
|
| 172 |
+
],
|
| 173 |
+
[
|
| 174 |
+
0.02096437179058319,
|
| 175 |
+
0.03578592831815316,
|
| 176 |
+
0.03852161498830023,
|
| 177 |
+
-0.03243981267002439,
|
| 178 |
+
-0.10248646842342896,
|
| 179 |
+
0.13126793813477305,
|
| 180 |
+
0.0
|
| 181 |
+
],
|
| 182 |
+
[
|
| 183 |
+
0.016751824626996314,
|
| 184 |
+
0.041354979863408456,
|
| 185 |
+
-0.004608012713798938,
|
| 186 |
+
-0.009641107362083314,
|
| 187 |
+
0.025190345700999997,
|
| 188 |
+
0.12444935420532176,
|
| 189 |
+
0.0
|
| 190 |
+
],
|
| 191 |
+
[
|
| 192 |
+
0.0072076626751424455,
|
| 193 |
+
0.03175831475154346,
|
| 194 |
+
-0.023645023833127048,
|
| 195 |
+
-0.0015280487567371596,
|
| 196 |
+
0.07689199074673136,
|
| 197 |
+
0.07517700360673504,
|
| 198 |
+
0.0
|
| 199 |
+
],
|
| 200 |
+
[
|
| 201 |
+
0.006676449590862221,
|
| 202 |
+
0.016116346912061652,
|
| 203 |
+
-0.0172120610402448,
|
| 204 |
+
0.010885743747853931,
|
| 205 |
+
0.033039028150330906,
|
| 206 |
+
0.011351667968958132,
|
| 207 |
+
0.0
|
| 208 |
+
],
|
| 209 |
+
[
|
| 210 |
+
0.004055506982101276,
|
| 211 |
+
0.011718791438848117,
|
| 212 |
+
-0.02399227917677642,
|
| 213 |
+
0.03540399754406046,
|
| 214 |
+
0.031394483151630306,
|
| 215 |
+
-0.014634226301174514,
|
| 216 |
+
0.0
|
| 217 |
+
],
|
| 218 |
+
[
|
| 219 |
+
0.0024633286304934776,
|
| 220 |
+
0.005507465049129259,
|
| 221 |
+
-0.019177637699556865,
|
| 222 |
+
-0.03116929509180802,
|
| 223 |
+
0.018605537750723395,
|
| 224 |
+
0.0020330078938164465,
|
| 225 |
+
0.0
|
| 226 |
+
],
|
| 227 |
+
[
|
| 228 |
+
0.0015354619342118903,
|
| 229 |
+
-0.0015842389152754405,
|
| 230 |
+
-0.012908666471459695,
|
| 231 |
+
-0.004979528779122552,
|
| 232 |
+
0.024517017763337427,
|
| 233 |
+
0.00014783388886758158,
|
| 234 |
+
0.0
|
| 235 |
+
],
|
| 236 |
+
[
|
| 237 |
+
-0.0002650811222049132,
|
| 238 |
+
-0.0054548717690237475,
|
| 239 |
+
-0.001710260377306136,
|
| 240 |
+
-0.04666237084714675,
|
| 241 |
+
-0.0034643722716403273,
|
| 242 |
+
0.028390909596853316,
|
| 243 |
+
1.0
|
| 244 |
+
],
|
| 245 |
+
[
|
| 246 |
+
-0.0014238761058633087,
|
| 247 |
+
-0.009649603118269456,
|
| 248 |
+
0.01968770127708809,
|
| 249 |
+
0.0023349201071227767,
|
| 250 |
+
-0.029767804195472456,
|
| 251 |
+
-0.0212540535538429,
|
| 252 |
+
1.0
|
| 253 |
+
],
|
| 254 |
+
[
|
| 255 |
+
-0.012318946918415785,
|
| 256 |
+
-0.014156663628152752,
|
| 257 |
+
0.027370611855186106,
|
| 258 |
+
-0.0006364485925447505,
|
| 259 |
+
-0.0239020769754563,
|
| 260 |
+
-0.04422892157031615,
|
| 261 |
+
1.0
|
| 262 |
+
],
|
| 263 |
+
[
|
| 264 |
+
-0.020994617051924014,
|
| 265 |
+
-0.017090382224721548,
|
| 266 |
+
0.02170870766365324,
|
| 267 |
+
-0.02370424874429476,
|
| 268 |
+
-0.02500896154902019,
|
| 269 |
+
-0.03830887875726536,
|
| 270 |
+
1.0
|
| 271 |
+
],
|
| 272 |
+
[
|
| 273 |
+
-0.015850880928774846,
|
| 274 |
+
-0.005976728555058375,
|
| 275 |
+
0.004387610844566304,
|
| 276 |
+
-0.049828866575510986,
|
| 277 |
+
-0.0020395451518546246,
|
| 278 |
+
-0.014414778392081393,
|
| 279 |
+
1.0
|
| 280 |
+
],
|
| 281 |
+
[
|
| 282 |
+
-0.005854943798186296,
|
| 283 |
+
0.0010675846936525832,
|
| 284 |
+
-0.0021052761232121,
|
| 285 |
+
0.009737315391319674,
|
| 286 |
+
0.006287133152737874,
|
| 287 |
+
-0.03515965834850726,
|
| 288 |
+
1.0
|
| 289 |
+
],
|
| 290 |
+
[
|
| 291 |
+
0.0,
|
| 292 |
+
0.0,
|
| 293 |
+
0.0,
|
| 294 |
+
0.0,
|
| 295 |
+
0.0,
|
| 296 |
+
0.0,
|
| 297 |
+
1.0
|
| 298 |
+
],
|
| 299 |
+
[
|
| 300 |
+
0.0,
|
| 301 |
+
0.0,
|
| 302 |
+
0.0,
|
| 303 |
+
0.0,
|
| 304 |
+
0.0,
|
| 305 |
+
0.0,
|
| 306 |
+
1.0
|
| 307 |
+
]
|
| 308 |
+
],
|
| 309 |
+
"gripper_centers": [
|
| 310 |
+
[
|
| 311 |
+
259.00311279296875,
|
| 312 |
+
164.09365844726562
|
| 313 |
+
],
|
| 314 |
+
[
|
| 315 |
+
259.4612121582031,
|
| 316 |
+
166.86061096191406
|
| 317 |
+
],
|
| 318 |
+
[
|
| 319 |
+
261.3651123046875,
|
| 320 |
+
188.44801330566406
|
| 321 |
+
],
|
| 322 |
+
[
|
| 323 |
+
287.5106506347656,
|
| 324 |
+
194.00323486328125
|
| 325 |
+
],
|
| 326 |
+
[
|
| 327 |
+
342.132568359375,
|
| 328 |
+
216.95635986328125
|
| 329 |
+
],
|
| 330 |
+
[
|
| 331 |
+
354.5767822265625,
|
| 332 |
+
231.20193481445312
|
| 333 |
+
],
|
| 334 |
+
[
|
| 335 |
+
373.4776611328125,
|
| 336 |
+
242.01947021484375
|
| 337 |
+
],
|
| 338 |
+
[
|
| 339 |
+
374.6367492675781,
|
| 340 |
+
254.43157958984375
|
| 341 |
+
],
|
| 342 |
+
[
|
| 343 |
+
379.52105712890625,
|
| 344 |
+
265.462158203125
|
| 345 |
+
],
|
| 346 |
+
[
|
| 347 |
+
395.6615905761719,
|
| 348 |
+
274.21221923828125
|
| 349 |
+
],
|
| 350 |
+
[
|
| 351 |
+
391.8965759277344,
|
| 352 |
+
280.68609619140625
|
| 353 |
+
],
|
| 354 |
+
[
|
| 355 |
+
389.02020263671875,
|
| 356 |
+
298.99365234375
|
| 357 |
+
],
|
| 358 |
+
[
|
| 359 |
+
391.822265625,
|
| 360 |
+
303.2354736328125
|
| 361 |
+
],
|
| 362 |
+
[
|
| 363 |
+
390.1416015625,
|
| 364 |
+
304.457763671875
|
| 365 |
+
],
|
| 366 |
+
[
|
| 367 |
+
389.5374755859375,
|
| 368 |
+
304.13592529296875
|
| 369 |
+
],
|
| 370 |
+
[
|
| 371 |
+
396.42645263671875,
|
| 372 |
+
269.7760925292969
|
| 373 |
+
],
|
| 374 |
+
[
|
| 375 |
+
402.99267578125,
|
| 376 |
+
215.58743286132812
|
| 377 |
+
],
|
| 378 |
+
[
|
| 379 |
+
363.0627136230469,
|
| 380 |
+
177.61390686035156
|
| 381 |
+
],
|
| 382 |
+
[
|
| 383 |
+
323.44183349609375,
|
| 384 |
+
156.18014526367188
|
| 385 |
+
],
|
| 386 |
+
[
|
| 387 |
+
299.89080810546875,
|
| 388 |
+
183.06808471679688
|
| 389 |
+
],
|
| 390 |
+
[
|
| 391 |
+
298.82891845703125,
|
| 392 |
+
192.686279296875
|
| 393 |
+
],
|
| 394 |
+
[
|
| 395 |
+
296.7748718261719,
|
| 396 |
+
214.18638610839844
|
| 397 |
+
],
|
| 398 |
+
[
|
| 399 |
+
286.5438232421875,
|
| 400 |
+
226.277587890625
|
| 401 |
+
],
|
| 402 |
+
[
|
| 403 |
+
286.8126220703125,
|
| 404 |
+
235.3775177001953
|
| 405 |
+
],
|
| 406 |
+
[
|
| 407 |
+
288.727783203125,
|
| 408 |
+
237.60891723632812
|
| 409 |
+
],
|
| 410 |
+
[
|
| 411 |
+
286.1607360839844,
|
| 412 |
+
237.63978576660156
|
| 413 |
+
],
|
| 414 |
+
[
|
| 415 |
+
285.1891784667969,
|
| 416 |
+
208.50254821777344
|
| 417 |
+
],
|
| 418 |
+
[
|
| 419 |
+
283.795654296875,
|
| 420 |
+
201.51181030273438
|
| 421 |
+
],
|
| 422 |
+
[
|
| 423 |
+
285.18780517578125,
|
| 424 |
+
209.51161193847656
|
| 425 |
+
],
|
| 426 |
+
[
|
| 427 |
+
283.4707946777344,
|
| 428 |
+
213.0772705078125
|
| 429 |
+
]
|
| 430 |
+
],
|
| 431 |
+
"depth_max": 1.3823347091674805,
|
| 432 |
+
"depth_min": 0.03034726157784462,
|
| 433 |
+
"intrinsic": [
|
| 434 |
+
[
|
| 435 |
+
506.1156921386719,
|
| 436 |
+
0.0,
|
| 437 |
+
259.0
|
| 438 |
+
],
|
| 439 |
+
[
|
| 440 |
+
0.0,
|
| 441 |
+
505.31390380859375,
|
| 442 |
+
196.0
|
| 443 |
+
],
|
| 444 |
+
[
|
| 445 |
+
0.0,
|
| 446 |
+
0.0,
|
| 447 |
+
1.0
|
| 448 |
+
]
|
| 449 |
+
],
|
| 450 |
+
"extrinsic": [
|
| 451 |
+
[
|
| 452 |
+
1.0,
|
| 453 |
+
-1.0330529221391771e-05,
|
| 454 |
+
-8.370586874661967e-05,
|
| 455 |
+
4.899549821857363e-06
|
| 456 |
+
],
|
| 457 |
+
[
|
| 458 |
+
1.0332636520615779e-05,
|
| 459 |
+
1.0,
|
| 460 |
+
2.5173012545565143e-05,
|
| 461 |
+
-2.3316875740420073e-05
|
| 462 |
+
],
|
| 463 |
+
[
|
| 464 |
+
8.370560681214556e-05,
|
| 465 |
+
-2.517387838452123e-05,
|
| 466 |
+
1.0,
|
| 467 |
+
4.00042008550372e-05
|
| 468 |
+
]
|
| 469 |
+
],
|
| 470 |
+
"selected_indexes": [
|
| 471 |
+
0,
|
| 472 |
+
4,
|
| 473 |
+
7,
|
| 474 |
+
10,
|
| 475 |
+
13,
|
| 476 |
+
16,
|
| 477 |
+
19,
|
| 478 |
+
22,
|
| 479 |
+
25,
|
| 480 |
+
29
|
| 481 |
+
],
|
| 482 |
+
"object_trajectory": [
|
| 483 |
+
[
|
| 484 |
+
407.25,
|
| 485 |
+
293.7500305175781
|
| 486 |
+
],
|
| 487 |
+
[
|
| 488 |
+
407.4009094238281,
|
| 489 |
+
293.5531921386719
|
| 490 |
+
],
|
| 491 |
+
[
|
| 492 |
+
407.22283935546875,
|
| 493 |
+
293.91949462890625
|
| 494 |
+
],
|
| 495 |
+
[
|
| 496 |
+
407.3189697265625,
|
| 497 |
+
293.6488952636719
|
| 498 |
+
],
|
| 499 |
+
[
|
| 500 |
+
407.0126953125,
|
| 501 |
+
294.02691650390625
|
| 502 |
+
],
|
| 503 |
+
[
|
| 504 |
+
407.0885314941406,
|
| 505 |
+
293.899169921875
|
| 506 |
+
],
|
| 507 |
+
[
|
| 508 |
+
407.131103515625,
|
| 509 |
+
294.08978271484375
|
| 510 |
+
],
|
| 511 |
+
[
|
| 512 |
+
407.24462890625,
|
| 513 |
+
294.1798095703125
|
| 514 |
+
],
|
| 515 |
+
[
|
| 516 |
+
406.93817138671875,
|
| 517 |
+
295.25201416015625
|
| 518 |
+
],
|
| 519 |
+
[
|
| 520 |
+
406.1908874511719,
|
| 521 |
+
296.193603515625
|
| 522 |
+
],
|
| 523 |
+
[
|
| 524 |
+
404.013671875,
|
| 525 |
+
297.59814453125
|
| 526 |
+
],
|
| 527 |
+
[
|
| 528 |
+
397.2173767089844,
|
| 529 |
+
297.7845153808594
|
| 530 |
+
],
|
| 531 |
+
[
|
| 532 |
+
398.6847229003906,
|
| 533 |
+
299.8641662597656
|
| 534 |
+
],
|
| 535 |
+
[
|
| 536 |
+
394.6869812011719,
|
| 537 |
+
299.4757995605469
|
| 538 |
+
],
|
| 539 |
+
[
|
| 540 |
+
392.9917297363281,
|
| 541 |
+
300.03607177734375
|
| 542 |
+
],
|
| 543 |
+
[
|
| 544 |
+
394.0784912109375,
|
| 545 |
+
273.6215515136719
|
| 546 |
+
],
|
| 547 |
+
[
|
| 548 |
+
400.9760437011719,
|
| 549 |
+
227.93887329101562
|
| 550 |
+
],
|
| 551 |
+
[
|
| 552 |
+
371.3257751464844,
|
| 553 |
+
190.9195556640625
|
| 554 |
+
],
|
| 555 |
+
[
|
| 556 |
+
332.3035888671875,
|
| 557 |
+
168.07815551757812
|
| 558 |
+
],
|
| 559 |
+
[
|
| 560 |
+
309.489013671875,
|
| 561 |
+
190.6794891357422
|
| 562 |
+
],
|
| 563 |
+
[
|
| 564 |
+
307.51654052734375,
|
| 565 |
+
201.87301635742188
|
| 566 |
+
],
|
| 567 |
+
[
|
| 568 |
+
305.44647216796875,
|
| 569 |
+
223.66078186035156
|
| 570 |
+
],
|
| 571 |
+
[
|
| 572 |
+
294.90606689453125,
|
| 573 |
+
228.94659423828125
|
| 574 |
+
],
|
| 575 |
+
[
|
| 576 |
+
295.91448974609375,
|
| 577 |
+
242.55992126464844
|
| 578 |
+
],
|
| 579 |
+
[
|
| 580 |
+
293.9896545410156,
|
| 581 |
+
248.94952392578125
|
| 582 |
+
],
|
| 583 |
+
[
|
| 584 |
+
290.84783935546875,
|
| 585 |
+
247.64344787597656
|
| 586 |
+
],
|
| 587 |
+
[
|
| 588 |
+
292.081787109375,
|
| 589 |
+
248.63092041015625
|
| 590 |
+
],
|
| 591 |
+
[
|
| 592 |
+
292.3307189941406,
|
| 593 |
+
247.4079132080078
|
| 594 |
+
],
|
| 595 |
+
[
|
| 596 |
+
292.1243591308594,
|
| 597 |
+
247.6888427734375
|
| 598 |
+
],
|
| 599 |
+
[
|
| 600 |
+
292.0257568359375,
|
| 601 |
+
249.08074951171875
|
| 602 |
+
]
|
| 603 |
+
]
|
| 604 |
+
}
|
000162_v2/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
take the banana from the pot and put it between the left stoves
|
000164_v2/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Inconsistant moving trajectory between gripper and object
|
000174/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Inconsistant moving trajectory between gripper and object
|
000197_v2/data.json
ADDED
|
@@ -0,0 +1,641 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_start": 9,
|
| 3 |
+
"action_end": 22,
|
| 4 |
+
"object_name": "blue brush",
|
| 5 |
+
"gripper_opens": [
|
| 6 |
+
1.0,
|
| 7 |
+
1.0,
|
| 8 |
+
1.0,
|
| 9 |
+
1.0,
|
| 10 |
+
1.0,
|
| 11 |
+
1.0,
|
| 12 |
+
1.0,
|
| 13 |
+
1.0,
|
| 14 |
+
1.0,
|
| 15 |
+
0.870574,
|
| 16 |
+
0.0,
|
| 17 |
+
0.0,
|
| 18 |
+
0.0,
|
| 19 |
+
0.0,
|
| 20 |
+
0.0,
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
0.0,
|
| 24 |
+
0.0,
|
| 25 |
+
0.0,
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0,
|
| 29 |
+
1.0,
|
| 30 |
+
1.0,
|
| 31 |
+
1.0,
|
| 32 |
+
1.0,
|
| 33 |
+
1.0,
|
| 34 |
+
1.0,
|
| 35 |
+
1.0,
|
| 36 |
+
1.0,
|
| 37 |
+
1.0
|
| 38 |
+
],
|
| 39 |
+
"gripper_actions": [
|
| 40 |
+
[
|
| 41 |
+
-5.272698944125409e-11,
|
| 42 |
+
-3.467495318654201e-10,
|
| 43 |
+
-2.591696510179098e-10,
|
| 44 |
+
-1.9397304609280834e-07,
|
| 45 |
+
3.840228466991329e-07,
|
| 46 |
+
-7.053025183054735e-07,
|
| 47 |
+
1.0
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.012144009007364287,
|
| 51 |
+
-0.0059527010839435235,
|
| 52 |
+
-0.006243487582555572,
|
| 53 |
+
-0.020977858186778768,
|
| 54 |
+
0.019942751356106077,
|
| 55 |
+
-0.004019381047007325,
|
| 56 |
+
1.0
|
| 57 |
+
],
|
| 58 |
+
[
|
| 59 |
+
0.01584648680960815,
|
| 60 |
+
-0.007561608902541664,
|
| 61 |
+
-0.008435780800115457,
|
| 62 |
+
-0.03452651433391624,
|
| 63 |
+
0.019273879927743022,
|
| 64 |
+
0.004906957285100136,
|
| 65 |
+
1.0
|
| 66 |
+
],
|
| 67 |
+
[
|
| 68 |
+
0.017200114849219517,
|
| 69 |
+
-0.007565401489326232,
|
| 70 |
+
-0.006231054283883848,
|
| 71 |
+
-0.020469626886138476,
|
| 72 |
+
0.005900235865476263,
|
| 73 |
+
0.004321862020944936,
|
| 74 |
+
1.0
|
| 75 |
+
],
|
| 76 |
+
[
|
| 77 |
+
0.01729921574308657,
|
| 78 |
+
-0.006034767445216735,
|
| 79 |
+
-0.006134759917173696,
|
| 80 |
+
0.002345345965534164,
|
| 81 |
+
-0.014449953326473516,
|
| 82 |
+
0.00410289958627543,
|
| 83 |
+
1.0
|
| 84 |
+
],
|
| 85 |
+
[
|
| 86 |
+
0.011416073698282514,
|
| 87 |
+
-0.004845525178886756,
|
| 88 |
+
-0.007237813941550222,
|
| 89 |
+
0.008782374469727803,
|
| 90 |
+
-0.014254143853747578,
|
| 91 |
+
-0.004867016730857102,
|
| 92 |
+
1.0
|
| 93 |
+
],
|
| 94 |
+
[
|
| 95 |
+
0.012946718701756954,
|
| 96 |
+
-0.007048821862033802,
|
| 97 |
+
-0.0035191988388548617,
|
| 98 |
+
0.016422513690530046,
|
| 99 |
+
-0.033349102841505794,
|
| 100 |
+
-0.008480108568209003,
|
| 101 |
+
1.0
|
| 102 |
+
],
|
| 103 |
+
[
|
| 104 |
+
0.007063112843607222,
|
| 105 |
+
-0.0007105525683550884,
|
| 106 |
+
-0.0008343886105785757,
|
| 107 |
+
0.021659440628916417,
|
| 108 |
+
-0.019008227541315537,
|
| 109 |
+
-0.0009704211367958247,
|
| 110 |
+
1.0
|
| 111 |
+
],
|
| 112 |
+
[
|
| 113 |
+
-0.0009546769509021225,
|
| 114 |
+
0.005845296882331666,
|
| 115 |
+
-0.005254144565790465,
|
| 116 |
+
0.007397244944547387,
|
| 117 |
+
0.015736910023407987,
|
| 118 |
+
0.017733005605877608,
|
| 119 |
+
1.0
|
| 120 |
+
],
|
| 121 |
+
[
|
| 122 |
+
-0.0008150350681001561,
|
| 123 |
+
0.004925920651395979,
|
| 124 |
+
-0.0054376401522993195,
|
| 125 |
+
0.0014305236197441206,
|
| 126 |
+
0.01263003213318564,
|
| 127 |
+
0.021514302543917875,
|
| 128 |
+
0.870574
|
| 129 |
+
],
|
| 130 |
+
[
|
| 131 |
+
-0.002303148759989493,
|
| 132 |
+
0.0017424920651137599,
|
| 133 |
+
-0.0052387406491421415,
|
| 134 |
+
0.006787437601774776,
|
| 135 |
+
0.01665777585784294,
|
| 136 |
+
0.0051907231505640165,
|
| 137 |
+
0.0
|
| 138 |
+
],
|
| 139 |
+
[
|
| 140 |
+
-0.0028676761585582633,
|
| 141 |
+
-0.00010250199539545146,
|
| 142 |
+
-0.004229392491417169,
|
| 143 |
+
0.008888534019845285,
|
| 144 |
+
0.021542714790658914,
|
| 145 |
+
-0.007604531710089477,
|
| 146 |
+
0.0
|
| 147 |
+
],
|
| 148 |
+
[
|
| 149 |
+
-0.0015295391826646298,
|
| 150 |
+
-0.0007173364341259425,
|
| 151 |
+
-0.0020056534505697374,
|
| 152 |
+
0.0027834556975383897,
|
| 153 |
+
0.007883884239317124,
|
| 154 |
+
-0.005480299846130747,
|
| 155 |
+
0.0
|
| 156 |
+
],
|
| 157 |
+
[
|
| 158 |
+
0.0006394598679962948,
|
| 159 |
+
-0.0031442088334751456,
|
| 160 |
+
0.02156603088710299,
|
| 161 |
+
-0.02094428136950263,
|
| 162 |
+
-0.06867682436972594,
|
| 163 |
+
-0.0023443613484220344,
|
| 164 |
+
0.0
|
| 165 |
+
],
|
| 166 |
+
[
|
| 167 |
+
-0.008752428936965595,
|
| 168 |
+
-0.015238225804098553,
|
| 169 |
+
0.0371200912284901,
|
| 170 |
+
-0.01988708618372823,
|
| 171 |
+
-0.10133555383887384,
|
| 172 |
+
-0.05446546283327683,
|
| 173 |
+
0.0
|
| 174 |
+
],
|
| 175 |
+
[
|
| 176 |
+
-0.018165805395600032,
|
| 177 |
+
-0.018918483930884245,
|
| 178 |
+
0.02168106195193987,
|
| 179 |
+
-0.030790319980654502,
|
| 180 |
+
-0.04737826787752116,
|
| 181 |
+
-0.06465752070523255,
|
| 182 |
+
0.0
|
| 183 |
+
],
|
| 184 |
+
[
|
| 185 |
+
-0.02071595111818475,
|
| 186 |
+
-0.020191038606622077,
|
| 187 |
+
-0.0009670677573102478,
|
| 188 |
+
-0.022046404115235948,
|
| 189 |
+
0.016692284935762684,
|
| 190 |
+
-0.08028305461587532,
|
| 191 |
+
0.0
|
| 192 |
+
],
|
| 193 |
+
[
|
| 194 |
+
-0.017233491950026547,
|
| 195 |
+
-0.018802973956992756,
|
| 196 |
+
-0.010364683967829559,
|
| 197 |
+
0.018579699334227887,
|
| 198 |
+
0.0377424264201809,
|
| 199 |
+
-0.08190734331289815,
|
| 200 |
+
0.0
|
| 201 |
+
],
|
| 202 |
+
[
|
| 203 |
+
-0.017630421677456043,
|
| 204 |
+
-0.019747158454539813,
|
| 205 |
+
-0.019393248850233136,
|
| 206 |
+
0.0016618969453577788,
|
| 207 |
+
0.0488409090389311,
|
| 208 |
+
-0.0540179484124282,
|
| 209 |
+
0.0
|
| 210 |
+
],
|
| 211 |
+
[
|
| 212 |
+
-0.004569186112393486,
|
| 213 |
+
-0.014766487877358894,
|
| 214 |
+
-0.01985144521835456,
|
| 215 |
+
0.02864017599434615,
|
| 216 |
+
0.0482373447883875,
|
| 217 |
+
-0.04185806436901706,
|
| 218 |
+
0.0
|
| 219 |
+
],
|
| 220 |
+
[
|
| 221 |
+
0.0012735372489761088,
|
| 222 |
+
-0.00948336935282194,
|
| 223 |
+
-0.009909825399084929,
|
| 224 |
+
-0.0006379967604711779,
|
| 225 |
+
0.024213897174512493,
|
| 226 |
+
-0.01905687654491951,
|
| 227 |
+
0.0
|
| 228 |
+
],
|
| 229 |
+
[
|
| 230 |
+
0.0007867324965645239,
|
| 231 |
+
-0.01002939041003291,
|
| 232 |
+
-0.005225644788096808,
|
| 233 |
+
-0.0018143484625343345,
|
| 234 |
+
0.010304608434190853,
|
| 235 |
+
-0.027542498449237472,
|
| 236 |
+
0.0
|
| 237 |
+
],
|
| 238 |
+
[
|
| 239 |
+
0.0004312237969745225,
|
| 240 |
+
-0.00018837649176327298,
|
| 241 |
+
-0.0018837280310298639,
|
| 242 |
+
0.015179111763574055,
|
| 243 |
+
0.006262151105604809,
|
| 244 |
+
-0.0006077225073981392,
|
| 245 |
+
0.0
|
| 246 |
+
],
|
| 247 |
+
[
|
| 248 |
+
0.0012411997062957703,
|
| 249 |
+
0.0056408587637675756,
|
| 250 |
+
0.010905996867252327,
|
| 251 |
+
-0.017774123786216133,
|
| 252 |
+
-0.02115379315944973,
|
| 253 |
+
0.028974884864813692,
|
| 254 |
+
1.0
|
| 255 |
+
],
|
| 256 |
+
[
|
| 257 |
+
-0.0018906544693073069,
|
| 258 |
+
0.013201885403511016,
|
| 259 |
+
0.028543446699121837,
|
| 260 |
+
-0.029992170233573777,
|
| 261 |
+
-0.07872932431119797,
|
| 262 |
+
0.07101364160802279,
|
| 263 |
+
1.0
|
| 264 |
+
],
|
| 265 |
+
[
|
| 266 |
+
-0.0028197285851771503,
|
| 267 |
+
0.02438356419559622,
|
| 268 |
+
0.03383874971489213,
|
| 269 |
+
-0.0018974673544460447,
|
| 270 |
+
-0.05040911708276283,
|
| 271 |
+
0.12893896403332003,
|
| 272 |
+
1.0
|
| 273 |
+
],
|
| 274 |
+
[
|
| 275 |
+
-0.0010043155638779777,
|
| 276 |
+
0.020922582651844403,
|
| 277 |
+
0.010072581957046176,
|
| 278 |
+
0.0032853779206476097,
|
| 279 |
+
-0.0432879408379238,
|
| 280 |
+
0.11164869917500335,
|
| 281 |
+
1.0
|
| 282 |
+
],
|
| 283 |
+
[
|
| 284 |
+
-0.0019050761888312895,
|
| 285 |
+
0.00827839303743777,
|
| 286 |
+
-0.0007823471931379805,
|
| 287 |
+
0.01052315372644665,
|
| 288 |
+
-0.015211098884751731,
|
| 289 |
+
0.03194361119739146,
|
| 290 |
+
1.0
|
| 291 |
+
],
|
| 292 |
+
[
|
| 293 |
+
0.0015313524603220996,
|
| 294 |
+
0.0042348632104073245,
|
| 295 |
+
-0.002240457524452878,
|
| 296 |
+
-0.003950082394506352,
|
| 297 |
+
-0.009655636152542101,
|
| 298 |
+
0.008327025295340391,
|
| 299 |
+
1.0
|
| 300 |
+
],
|
| 301 |
+
[
|
| 302 |
+
0.0,
|
| 303 |
+
0.0,
|
| 304 |
+
0.0,
|
| 305 |
+
0.0,
|
| 306 |
+
0.0,
|
| 307 |
+
0.0,
|
| 308 |
+
1.0
|
| 309 |
+
],
|
| 310 |
+
[
|
| 311 |
+
0.0,
|
| 312 |
+
0.0,
|
| 313 |
+
0.0,
|
| 314 |
+
0.0,
|
| 315 |
+
0.0,
|
| 316 |
+
0.0,
|
| 317 |
+
1.0
|
| 318 |
+
],
|
| 319 |
+
[
|
| 320 |
+
0.0,
|
| 321 |
+
0.0,
|
| 322 |
+
0.0,
|
| 323 |
+
0.0,
|
| 324 |
+
0.0,
|
| 325 |
+
0.0,
|
| 326 |
+
1.0
|
| 327 |
+
]
|
| 328 |
+
],
|
| 329 |
+
"gripper_centers": [
|
| 330 |
+
[
|
| 331 |
+
237.3117218017578,
|
| 332 |
+
191.95895385742188
|
| 333 |
+
],
|
| 334 |
+
[
|
| 335 |
+
236.7630157470703,
|
| 336 |
+
193.13619995117188
|
| 337 |
+
],
|
| 338 |
+
[
|
| 339 |
+
236.84625244140625,
|
| 340 |
+
225.28286743164062
|
| 341 |
+
],
|
| 342 |
+
[
|
| 343 |
+
245.84762573242188,
|
| 344 |
+
222.73275756835938
|
| 345 |
+
],
|
| 346 |
+
[
|
| 347 |
+
254.9503173828125,
|
| 348 |
+
225.809814453125
|
| 349 |
+
],
|
| 350 |
+
[
|
| 351 |
+
266.00640869140625,
|
| 352 |
+
226.12875366210938
|
| 353 |
+
],
|
| 354 |
+
[
|
| 355 |
+
287.75732421875,
|
| 356 |
+
228.96591186523438
|
| 357 |
+
],
|
| 358 |
+
[
|
| 359 |
+
291.95257568359375,
|
| 360 |
+
228.63299560546875
|
| 361 |
+
],
|
| 362 |
+
[
|
| 363 |
+
295.22662353515625,
|
| 364 |
+
231.37840270996094
|
| 365 |
+
],
|
| 366 |
+
[
|
| 367 |
+
303.8768005371094,
|
| 368 |
+
222.89273071289062
|
| 369 |
+
],
|
| 370 |
+
[
|
| 371 |
+
300.95928955078125,
|
| 372 |
+
237.47935485839844
|
| 373 |
+
],
|
| 374 |
+
[
|
| 375 |
+
300.5964660644531,
|
| 376 |
+
235.01727294921875
|
| 377 |
+
],
|
| 378 |
+
[
|
| 379 |
+
294.632080078125,
|
| 380 |
+
236.6854248046875
|
| 381 |
+
],
|
| 382 |
+
[
|
| 383 |
+
293.7289733886719,
|
| 384 |
+
236.50555419921875
|
| 385 |
+
],
|
| 386 |
+
[
|
| 387 |
+
292.94439697265625,
|
| 388 |
+
236.46429443359375
|
| 389 |
+
],
|
| 390 |
+
[
|
| 391 |
+
295.7586669921875,
|
| 392 |
+
238.959228515625
|
| 393 |
+
],
|
| 394 |
+
[
|
| 395 |
+
302.07501220703125,
|
| 396 |
+
214.67977905273438
|
| 397 |
+
],
|
| 398 |
+
[
|
| 399 |
+
305.0484313964844,
|
| 400 |
+
211.15640258789062
|
| 401 |
+
],
|
| 402 |
+
[
|
| 403 |
+
320.95556640625,
|
| 404 |
+
236.40707397460938
|
| 405 |
+
],
|
| 406 |
+
[
|
| 407 |
+
335.3636474609375,
|
| 408 |
+
268.324462890625
|
| 409 |
+
],
|
| 410 |
+
[
|
| 411 |
+
345.06597900390625,
|
| 412 |
+
291.8006286621094
|
| 413 |
+
],
|
| 414 |
+
[
|
| 415 |
+
366.56390380859375,
|
| 416 |
+
298.4971923828125
|
| 417 |
+
],
|
| 418 |
+
[
|
| 419 |
+
367.4239196777344,
|
| 420 |
+
306.3013916015625
|
| 421 |
+
],
|
| 422 |
+
[
|
| 423 |
+
374.481689453125,
|
| 424 |
+
314.6128234863281
|
| 425 |
+
],
|
| 426 |
+
[
|
| 427 |
+
375.89666748046875,
|
| 428 |
+
313.3591613769531
|
| 429 |
+
],
|
| 430 |
+
[
|
| 431 |
+
377.30792236328125,
|
| 432 |
+
316.465576171875
|
| 433 |
+
],
|
| 434 |
+
[
|
| 435 |
+
383.2485656738281,
|
| 436 |
+
271.327392578125
|
| 437 |
+
],
|
| 438 |
+
[
|
| 439 |
+
349.3521728515625,
|
| 440 |
+
237.29315185546875
|
| 441 |
+
],
|
| 442 |
+
[
|
| 443 |
+
333.4124450683594,
|
| 444 |
+
234.84129333496094
|
| 445 |
+
],
|
| 446 |
+
[
|
| 447 |
+
331.9510803222656,
|
| 448 |
+
238.30758666992188
|
| 449 |
+
],
|
| 450 |
+
[
|
| 451 |
+
322.348388671875,
|
| 452 |
+
236.65426635742188
|
| 453 |
+
],
|
| 454 |
+
[
|
| 455 |
+
320.79833984375,
|
| 456 |
+
236.07266235351562
|
| 457 |
+
]
|
| 458 |
+
],
|
| 459 |
+
"depth_max": 1.3625175952911377,
|
| 460 |
+
"depth_min": 0.0531342439353466,
|
| 461 |
+
"intrinsic": [
|
| 462 |
+
[
|
| 463 |
+
501.60565185546875,
|
| 464 |
+
0.0,
|
| 465 |
+
259.0
|
| 466 |
+
],
|
| 467 |
+
[
|
| 468 |
+
0.0,
|
| 469 |
+
500.991943359375,
|
| 470 |
+
196.0
|
| 471 |
+
],
|
| 472 |
+
[
|
| 473 |
+
0.0,
|
| 474 |
+
0.0,
|
| 475 |
+
1.0
|
| 476 |
+
]
|
| 477 |
+
],
|
| 478 |
+
"extrinsic": [
|
| 479 |
+
[
|
| 480 |
+
1.0,
|
| 481 |
+
1.3948085324955173e-05,
|
| 482 |
+
-7.159329106798396e-05,
|
| 483 |
+
-5.4233951232163236e-06
|
| 484 |
+
],
|
| 485 |
+
[
|
| 486 |
+
-1.394607807014836e-05,
|
| 487 |
+
1.0,
|
| 488 |
+
2.802607741614338e-05,
|
| 489 |
+
-2.5257650122512132e-05
|
| 490 |
+
],
|
| 491 |
+
[
|
| 492 |
+
7.159368396969512e-05,
|
| 493 |
+
-2.8025080609950237e-05,
|
| 494 |
+
1.0,
|
| 495 |
+
5.584838072536513e-05
|
| 496 |
+
]
|
| 497 |
+
],
|
| 498 |
+
"selected_indexes": [
|
| 499 |
+
0,
|
| 500 |
+
3,
|
| 501 |
+
6,
|
| 502 |
+
9,
|
| 503 |
+
12,
|
| 504 |
+
15,
|
| 505 |
+
18,
|
| 506 |
+
21,
|
| 507 |
+
24,
|
| 508 |
+
27,
|
| 509 |
+
31
|
| 510 |
+
],
|
| 511 |
+
"object_trajectory": [
|
| 512 |
+
[
|
| 513 |
+
287.25,
|
| 514 |
+
241.25
|
| 515 |
+
],
|
| 516 |
+
[
|
| 517 |
+
287.457275390625,
|
| 518 |
+
241.58517456054688
|
| 519 |
+
],
|
| 520 |
+
[
|
| 521 |
+
287.4546203613281,
|
| 522 |
+
241.89187622070312
|
| 523 |
+
],
|
| 524 |
+
[
|
| 525 |
+
287.73046875,
|
| 526 |
+
241.66470336914062
|
| 527 |
+
],
|
| 528 |
+
[
|
| 529 |
+
287.72381591796875,
|
| 530 |
+
241.81784057617188
|
| 531 |
+
],
|
| 532 |
+
[
|
| 533 |
+
287.3972473144531,
|
| 534 |
+
241.633544921875
|
| 535 |
+
],
|
| 536 |
+
[
|
| 537 |
+
286.6655578613281,
|
| 538 |
+
241.74618530273438
|
| 539 |
+
],
|
| 540 |
+
[
|
| 541 |
+
286.9241638183594,
|
| 542 |
+
241.98878479003906
|
| 543 |
+
],
|
| 544 |
+
[
|
| 545 |
+
288.6285400390625,
|
| 546 |
+
241.65370178222656
|
| 547 |
+
],
|
| 548 |
+
[
|
| 549 |
+
294.0047607421875,
|
| 550 |
+
237.40606689453125
|
| 551 |
+
],
|
| 552 |
+
[
|
| 553 |
+
294.1430358886719,
|
| 554 |
+
239.05947875976562
|
| 555 |
+
],
|
| 556 |
+
[
|
| 557 |
+
298.2608337402344,
|
| 558 |
+
238.56411743164062
|
| 559 |
+
],
|
| 560 |
+
[
|
| 561 |
+
294.3503723144531,
|
| 562 |
+
239.12680053710938
|
| 563 |
+
],
|
| 564 |
+
[
|
| 565 |
+
292.98974609375,
|
| 566 |
+
239.5777130126953
|
| 567 |
+
],
|
| 568 |
+
[
|
| 569 |
+
292.7981872558594,
|
| 570 |
+
239.91357421875
|
| 571 |
+
],
|
| 572 |
+
[
|
| 573 |
+
295.37164306640625,
|
| 574 |
+
240.9235076904297
|
| 575 |
+
],
|
| 576 |
+
[
|
| 577 |
+
298.8184814453125,
|
| 578 |
+
227.22760009765625
|
| 579 |
+
],
|
| 580 |
+
[
|
| 581 |
+
305.33062744140625,
|
| 582 |
+
223.33961486816406
|
| 583 |
+
],
|
| 584 |
+
[
|
| 585 |
+
318.5745849609375,
|
| 586 |
+
246.85140991210938
|
| 587 |
+
],
|
| 588 |
+
[
|
| 589 |
+
322.5808410644531,
|
| 590 |
+
249.7122802734375
|
| 591 |
+
],
|
| 592 |
+
[
|
| 593 |
+
336.1585388183594,
|
| 594 |
+
259.00384521484375
|
| 595 |
+
],
|
| 596 |
+
[
|
| 597 |
+
346.513427734375,
|
| 598 |
+
261.47979736328125
|
| 599 |
+
],
|
| 600 |
+
[
|
| 601 |
+
347.0539245605469,
|
| 602 |
+
254.1172332763672
|
| 603 |
+
],
|
| 604 |
+
[
|
| 605 |
+
371.3040771484375,
|
| 606 |
+
268.55853271484375
|
| 607 |
+
],
|
| 608 |
+
[
|
| 609 |
+
377.500244140625,
|
| 610 |
+
304.62091064453125
|
| 611 |
+
],
|
| 612 |
+
[
|
| 613 |
+
383.98333740234375,
|
| 614 |
+
314.1916198730469
|
| 615 |
+
],
|
| 616 |
+
[
|
| 617 |
+
391.220458984375,
|
| 618 |
+
317.3834533691406
|
| 619 |
+
],
|
| 620 |
+
[
|
| 621 |
+
388.8902893066406,
|
| 622 |
+
313.29388427734375
|
| 623 |
+
],
|
| 624 |
+
[
|
| 625 |
+
390.49688720703125,
|
| 626 |
+
317.69256591796875
|
| 627 |
+
],
|
| 628 |
+
[
|
| 629 |
+
389.4119873046875,
|
| 630 |
+
316.64788818359375
|
| 631 |
+
],
|
| 632 |
+
[
|
| 633 |
+
387.9688720703125,
|
| 634 |
+
312.9337158203125
|
| 635 |
+
],
|
| 636 |
+
[
|
| 637 |
+
390.1089782714844,
|
| 638 |
+
316.8464050292969
|
| 639 |
+
]
|
| 640 |
+
]
|
| 641 |
+
}
|
000197_v2/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
move the blue brush over the lower right stove
|
000197_v2/object.ply
ADDED
|
Binary file (33.4 kB). View file
|
|
|
000213/data.json
ADDED
|
@@ -0,0 +1,568 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_start": 9,
|
| 3 |
+
"action_end": 26,
|
| 4 |
+
"object_name": "sponge",
|
| 5 |
+
"gripper_opens": [
|
| 6 |
+
1.0,
|
| 7 |
+
1.0,
|
| 8 |
+
1.0,
|
| 9 |
+
1.0,
|
| 10 |
+
1.0,
|
| 11 |
+
1.0,
|
| 12 |
+
1.0,
|
| 13 |
+
1.0,
|
| 14 |
+
1.0,
|
| 15 |
+
1.0,
|
| 16 |
+
0.0,
|
| 17 |
+
0.0,
|
| 18 |
+
0.0,
|
| 19 |
+
0.0,
|
| 20 |
+
0.0,
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
0.0,
|
| 24 |
+
0.0,
|
| 25 |
+
0.0,
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0,
|
| 29 |
+
0.0,
|
| 30 |
+
0.0,
|
| 31 |
+
0.0,
|
| 32 |
+
0.0,
|
| 33 |
+
0.0
|
| 34 |
+
],
|
| 35 |
+
"gripper_actions": [
|
| 36 |
+
[
|
| 37 |
+
1.6612622388834097e-10,
|
| 38 |
+
-4.525017166523426e-11,
|
| 39 |
+
-7.930064938044268e-11,
|
| 40 |
+
-1.454116904998905e-07,
|
| 41 |
+
-1.2804174966096376e-07,
|
| 42 |
+
3.7539385241888656e-07,
|
| 43 |
+
1.0
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
0.017323534960004383,
|
| 47 |
+
0.016308275587327194,
|
| 48 |
+
0.005808153425190393,
|
| 49 |
+
0.025688148304764447,
|
| 50 |
+
-0.05257682602901837,
|
| 51 |
+
-0.03291110445459576,
|
| 52 |
+
1.0
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.007001054584883648,
|
| 56 |
+
0.028118605845351325,
|
| 57 |
+
0.002308448249398326,
|
| 58 |
+
0.049177123959379836,
|
| 59 |
+
-0.04376082422912568,
|
| 60 |
+
-0.06896371837681788,
|
| 61 |
+
1.0
|
| 62 |
+
],
|
| 63 |
+
[
|
| 64 |
+
0.0056428080197795105,
|
| 65 |
+
0.02363979389220823,
|
| 66 |
+
-0.006812594339030115,
|
| 67 |
+
0.04092715722738528,
|
| 68 |
+
-0.027735324875826584,
|
| 69 |
+
-0.041697197641919696,
|
| 70 |
+
1.0
|
| 71 |
+
],
|
| 72 |
+
[
|
| 73 |
+
0.008081385920721107,
|
| 74 |
+
0.017753860906612753,
|
| 75 |
+
-0.010146839333933566,
|
| 76 |
+
0.017838824030416946,
|
| 77 |
+
-0.025709241147207802,
|
| 78 |
+
-0.0028355432573843172,
|
| 79 |
+
1.0
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.005765932495167103,
|
| 83 |
+
0.012768243526292536,
|
| 84 |
+
-0.017957940868659372,
|
| 85 |
+
0.04220540912008053,
|
| 86 |
+
0.013496984816787617,
|
| 87 |
+
-0.02195543869819617,
|
| 88 |
+
1.0
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
-0.002316807425127132,
|
| 92 |
+
0.009251587580846501,
|
| 93 |
+
-0.021581818084731502,
|
| 94 |
+
0.00034571087234584226,
|
| 95 |
+
-0.018250041016084753,
|
| 96 |
+
-0.03106589001373562,
|
| 97 |
+
1.0
|
| 98 |
+
],
|
| 99 |
+
[
|
| 100 |
+
-0.0008002337559418482,
|
| 101 |
+
0.001817186922688785,
|
| 102 |
+
-0.026251407553766787,
|
| 103 |
+
0.052680385562517903,
|
| 104 |
+
-0.013933659423528694,
|
| 105 |
+
0.03598033504632548,
|
| 106 |
+
1.0
|
| 107 |
+
],
|
| 108 |
+
[
|
| 109 |
+
0.011935743155667922,
|
| 110 |
+
0.008830312995609713,
|
| 111 |
+
-0.009573868187486095,
|
| 112 |
+
0.03709232402058357,
|
| 113 |
+
-0.012610500306665435,
|
| 114 |
+
0.013388302303861812,
|
| 115 |
+
1.0
|
| 116 |
+
],
|
| 117 |
+
[
|
| 118 |
+
0.001992676354090561,
|
| 119 |
+
0.00143402804327733,
|
| 120 |
+
-0.015458515334720008,
|
| 121 |
+
0.0070749549074099185,
|
| 122 |
+
0.010430496048500097,
|
| 123 |
+
0.000303428813044767,
|
| 124 |
+
1.0
|
| 125 |
+
],
|
| 126 |
+
[
|
| 127 |
+
0.0028034965967575487,
|
| 128 |
+
-0.006329163474421029,
|
| 129 |
+
-0.0033105759558841596,
|
| 130 |
+
-0.011777949410450848,
|
| 131 |
+
0.007199431310100524,
|
| 132 |
+
0.03476732670728419,
|
| 133 |
+
0.0
|
| 134 |
+
],
|
| 135 |
+
[
|
| 136 |
+
0.004329746507701571,
|
| 137 |
+
-0.00875082832774765,
|
| 138 |
+
0.02158387199314217,
|
| 139 |
+
-0.05535420396609928,
|
| 140 |
+
-0.026230297919994622,
|
| 141 |
+
0.033664474694637014,
|
| 142 |
+
0.0
|
| 143 |
+
],
|
| 144 |
+
[
|
| 145 |
+
0.007710077136237559,
|
| 146 |
+
-0.013308656104836059,
|
| 147 |
+
0.02990717973521549,
|
| 148 |
+
-0.07219136825868856,
|
| 149 |
+
-0.016991276864514075,
|
| 150 |
+
0.03954165392212389,
|
| 151 |
+
0.0
|
| 152 |
+
],
|
| 153 |
+
[
|
| 154 |
+
0.00102584521470922,
|
| 155 |
+
-0.023685997389612357,
|
| 156 |
+
0.030130811865197518,
|
| 157 |
+
-0.07326223157071204,
|
| 158 |
+
0.0027346744102885673,
|
| 159 |
+
0.007778414691911761,
|
| 160 |
+
0.0
|
| 161 |
+
],
|
| 162 |
+
[
|
| 163 |
+
-0.004394215927955747,
|
| 164 |
+
-0.03344001262836817,
|
| 165 |
+
0.005873018959481002,
|
| 166 |
+
-0.05550685823283701,
|
| 167 |
+
0.026820870179117134,
|
| 168 |
+
-0.028791197767775365,
|
| 169 |
+
0.0
|
| 170 |
+
],
|
| 171 |
+
[
|
| 172 |
+
-0.0021346189668766113,
|
| 173 |
+
-0.026569179913314978,
|
| 174 |
+
-0.032074869870630046,
|
| 175 |
+
0.06774466905452305,
|
| 176 |
+
-0.03690429220860162,
|
| 177 |
+
-0.01147992350172256,
|
| 178 |
+
0.0
|
| 179 |
+
],
|
| 180 |
+
[
|
| 181 |
+
0.0038857521150135743,
|
| 182 |
+
0.0001465637866945313,
|
| 183 |
+
-0.03137961378963619,
|
| 184 |
+
0.0748767971536655,
|
| 185 |
+
-0.07521038226490302,
|
| 186 |
+
-0.001610261323209015,
|
| 187 |
+
0.0
|
| 188 |
+
],
|
| 189 |
+
[
|
| 190 |
+
0.0006489010340879342,
|
| 191 |
+
-0.007048828043433226,
|
| 192 |
+
-0.012348414178633901,
|
| 193 |
+
0.030428207107944284,
|
| 194 |
+
0.00588726364658925,
|
| 195 |
+
0.005195812635713368,
|
| 196 |
+
0.0
|
| 197 |
+
],
|
| 198 |
+
[
|
| 199 |
+
0.012335960281068703,
|
| 200 |
+
-0.012597553616533985,
|
| 201 |
+
-0.0015745052912767982,
|
| 202 |
+
0.0015249418720682801,
|
| 203 |
+
0.022303619223162954,
|
| 204 |
+
-0.0038406955589354494,
|
| 205 |
+
0.0
|
| 206 |
+
],
|
| 207 |
+
[
|
| 208 |
+
-0.002752479024983434,
|
| 209 |
+
-0.024350950561181712,
|
| 210 |
+
-0.005153909712536556,
|
| 211 |
+
0.002405431690653771,
|
| 212 |
+
0.011014465388608253,
|
| 213 |
+
-0.012035631586822446,
|
| 214 |
+
0.0
|
| 215 |
+
],
|
| 216 |
+
[
|
| 217 |
+
-0.0038802755050424964,
|
| 218 |
+
-0.01844973074306907,
|
| 219 |
+
-0.004999816557448411,
|
| 220 |
+
-0.01444613746070687,
|
| 221 |
+
0.011959944294091389,
|
| 222 |
+
-0.00443204813187926,
|
| 223 |
+
0.0
|
| 224 |
+
],
|
| 225 |
+
[
|
| 226 |
+
-0.00533429161662291,
|
| 227 |
+
-0.01562416779188002,
|
| 228 |
+
0.0009033828663016913,
|
| 229 |
+
-0.03487894017127937,
|
| 230 |
+
0.004377838417561915,
|
| 231 |
+
0.0004928267416938867,
|
| 232 |
+
0.0
|
| 233 |
+
],
|
| 234 |
+
[
|
| 235 |
+
-0.008139548890396642,
|
| 236 |
+
-0.016695713477257346,
|
| 237 |
+
0.0032514781891661987,
|
| 238 |
+
-0.04213803395547324,
|
| 239 |
+
0.0006651398796823917,
|
| 240 |
+
-0.009277626281498388,
|
| 241 |
+
0.0
|
| 242 |
+
],
|
| 243 |
+
[
|
| 244 |
+
-0.005414327541226227,
|
| 245 |
+
-0.02458084344958063,
|
| 246 |
+
0.019224504866736714,
|
| 247 |
+
-0.06005834938857874,
|
| 248 |
+
0.010144287429237165,
|
| 249 |
+
0.009322982835113772,
|
| 250 |
+
0.0
|
| 251 |
+
],
|
| 252 |
+
[
|
| 253 |
+
-5.5943650075496176e-05,
|
| 254 |
+
-0.021781682443508824,
|
| 255 |
+
0.012367505886321933,
|
| 256 |
+
-0.03481561825851303,
|
| 257 |
+
0.01490911446086989,
|
| 258 |
+
0.024054718775957006,
|
| 259 |
+
0.0
|
| 260 |
+
],
|
| 261 |
+
[
|
| 262 |
+
-0.0017999596107189375,
|
| 263 |
+
-0.013894398165676947,
|
| 264 |
+
0.002544953074533049,
|
| 265 |
+
-0.007859901957332549,
|
| 266 |
+
-0.005237624679928691,
|
| 267 |
+
0.003478808838973802,
|
| 268 |
+
0.0
|
| 269 |
+
],
|
| 270 |
+
[
|
| 271 |
+
0.0030776058291603903,
|
| 272 |
+
0.002803437088640018,
|
| 273 |
+
-0.006450294789773436,
|
| 274 |
+
0.01581071887449611,
|
| 275 |
+
-0.016572254953329042,
|
| 276 |
+
0.019371151044657118,
|
| 277 |
+
0.0
|
| 278 |
+
],
|
| 279 |
+
[
|
| 280 |
+
0.01791191847959467,
|
| 281 |
+
0.03285695270124049,
|
| 282 |
+
-0.009750183895438053,
|
| 283 |
+
0.030412345198656134,
|
| 284 |
+
-0.038101472995028196,
|
| 285 |
+
0.06581359034928232,
|
| 286 |
+
0.0
|
| 287 |
+
]
|
| 288 |
+
],
|
| 289 |
+
"gripper_centers": [
|
| 290 |
+
[
|
| 291 |
+
307.312744140625,
|
| 292 |
+
17.578359603881836
|
| 293 |
+
],
|
| 294 |
+
[
|
| 295 |
+
305.63531494140625,
|
| 296 |
+
22.74390411376953
|
| 297 |
+
],
|
| 298 |
+
[
|
| 299 |
+
308.2589416503906,
|
| 300 |
+
17.350000381469727
|
| 301 |
+
],
|
| 302 |
+
[
|
| 303 |
+
255.04771423339844,
|
| 304 |
+
-15.345688819885254
|
| 305 |
+
],
|
| 306 |
+
[
|
| 307 |
+
240.01756286621094,
|
| 308 |
+
-16.85143280029297
|
| 309 |
+
],
|
| 310 |
+
[
|
| 311 |
+
238.7005615234375,
|
| 312 |
+
9.830305099487305
|
| 313 |
+
],
|
| 314 |
+
[
|
| 315 |
+
230.52745056152344,
|
| 316 |
+
19.043489456176758
|
| 317 |
+
],
|
| 318 |
+
[
|
| 319 |
+
222.83656311035156,
|
| 320 |
+
29.087610244750977
|
| 321 |
+
],
|
| 322 |
+
[
|
| 323 |
+
211.39706420898438,
|
| 324 |
+
57.13433837890625
|
| 325 |
+
],
|
| 326 |
+
[
|
| 327 |
+
219.39663696289062,
|
| 328 |
+
70.28203582763672
|
| 329 |
+
],
|
| 330 |
+
[
|
| 331 |
+
226.29547119140625,
|
| 332 |
+
75.28987884521484
|
| 333 |
+
],
|
| 334 |
+
[
|
| 335 |
+
235.73440551757812,
|
| 336 |
+
77.5959701538086
|
| 337 |
+
],
|
| 338 |
+
[
|
| 339 |
+
246.13577270507812,
|
| 340 |
+
68.36032104492188
|
| 341 |
+
],
|
| 342 |
+
[
|
| 343 |
+
250.30410766601562,
|
| 344 |
+
36.166385650634766
|
| 345 |
+
],
|
| 346 |
+
[
|
| 347 |
+
262.8642883300781,
|
| 348 |
+
11.956568717956543
|
| 349 |
+
],
|
| 350 |
+
[
|
| 351 |
+
294.734619140625,
|
| 352 |
+
4.110232830047607
|
| 353 |
+
],
|
| 354 |
+
[
|
| 355 |
+
337.0736389160156,
|
| 356 |
+
58.266353607177734
|
| 357 |
+
],
|
| 358 |
+
[
|
| 359 |
+
359.65277099609375,
|
| 360 |
+
86.90443420410156
|
| 361 |
+
],
|
| 362 |
+
[
|
| 363 |
+
360.0751953125,
|
| 364 |
+
88.23892211914062
|
| 365 |
+
],
|
| 366 |
+
[
|
| 367 |
+
368.2747802734375,
|
| 368 |
+
83.93694305419922
|
| 369 |
+
],
|
| 370 |
+
[
|
| 371 |
+
383.2442932128906,
|
| 372 |
+
89.26509094238281
|
| 373 |
+
],
|
| 374 |
+
[
|
| 375 |
+
400.9247131347656,
|
| 376 |
+
101.03873443603516
|
| 377 |
+
],
|
| 378 |
+
[
|
| 379 |
+
409.4315185546875,
|
| 380 |
+
109.9885025024414
|
| 381 |
+
],
|
| 382 |
+
[
|
| 383 |
+
423.6065673828125,
|
| 384 |
+
120.28681182861328
|
| 385 |
+
],
|
| 386 |
+
[
|
| 387 |
+
470.3094482421875,
|
| 388 |
+
134.69259643554688
|
| 389 |
+
],
|
| 390 |
+
[
|
| 391 |
+
523.1853637695312,
|
| 392 |
+
139.10540771484375
|
| 393 |
+
],
|
| 394 |
+
[
|
| 395 |
+
564.59912109375,
|
| 396 |
+
158.40640258789062
|
| 397 |
+
],
|
| 398 |
+
[
|
| 399 |
+
558.7037353515625,
|
| 400 |
+
150.14894104003906
|
| 401 |
+
]
|
| 402 |
+
],
|
| 403 |
+
"depth_max": 1.5750455856323242,
|
| 404 |
+
"depth_min": 0.3101498782634735,
|
| 405 |
+
"intrinsic": [
|
| 406 |
+
[
|
| 407 |
+
509.46435546875,
|
| 408 |
+
0.0,
|
| 409 |
+
259.0
|
| 410 |
+
],
|
| 411 |
+
[
|
| 412 |
+
0.0,
|
| 413 |
+
508.93499755859375,
|
| 414 |
+
196.0
|
| 415 |
+
],
|
| 416 |
+
[
|
| 417 |
+
0.0,
|
| 418 |
+
0.0,
|
| 419 |
+
1.0
|
| 420 |
+
]
|
| 421 |
+
],
|
| 422 |
+
"extrinsic": [
|
| 423 |
+
[
|
| 424 |
+
1.0,
|
| 425 |
+
-4.491911568038631e-06,
|
| 426 |
+
-5.6498018238926306e-05,
|
| 427 |
+
-1.270688335353043e-05
|
| 428 |
+
],
|
| 429 |
+
[
|
| 430 |
+
4.4893909034726676e-06,
|
| 431 |
+
1.0,
|
| 432 |
+
-4.461741627892479e-05,
|
| 433 |
+
-9.992547347792424e-06
|
| 434 |
+
],
|
| 435 |
+
[
|
| 436 |
+
5.6498221965739504e-05,
|
| 437 |
+
4.4617161620408297e-05,
|
| 438 |
+
1.0,
|
| 439 |
+
-4.177941445959732e-05
|
| 440 |
+
]
|
| 441 |
+
],
|
| 442 |
+
"selected_indexes": [
|
| 443 |
+
0,
|
| 444 |
+
3,
|
| 445 |
+
6,
|
| 446 |
+
9,
|
| 447 |
+
12,
|
| 448 |
+
15,
|
| 449 |
+
18,
|
| 450 |
+
21,
|
| 451 |
+
24,
|
| 452 |
+
27
|
| 453 |
+
],
|
| 454 |
+
"object_trajectory": [
|
| 455 |
+
[
|
| 456 |
+
240.5,
|
| 457 |
+
108.50000762939453
|
| 458 |
+
],
|
| 459 |
+
[
|
| 460 |
+
240.95118713378906,
|
| 461 |
+
108.7882080078125
|
| 462 |
+
],
|
| 463 |
+
[
|
| 464 |
+
240.91970825195312,
|
| 465 |
+
108.81832122802734
|
| 466 |
+
],
|
| 467 |
+
[
|
| 468 |
+
240.68316650390625,
|
| 469 |
+
108.736083984375
|
| 470 |
+
],
|
| 471 |
+
[
|
| 472 |
+
240.39529418945312,
|
| 473 |
+
108.86613464355469
|
| 474 |
+
],
|
| 475 |
+
[
|
| 476 |
+
240.6744384765625,
|
| 477 |
+
108.93267822265625
|
| 478 |
+
],
|
| 479 |
+
[
|
| 480 |
+
240.48561096191406,
|
| 481 |
+
108.98297119140625
|
| 482 |
+
],
|
| 483 |
+
[
|
| 484 |
+
240.5052490234375,
|
| 485 |
+
109.19802856445312
|
| 486 |
+
],
|
| 487 |
+
[
|
| 488 |
+
240.7177734375,
|
| 489 |
+
109.40860748291016
|
| 490 |
+
],
|
| 491 |
+
[
|
| 492 |
+
242.8623809814453,
|
| 493 |
+
109.85099792480469
|
| 494 |
+
],
|
| 495 |
+
[
|
| 496 |
+
246.87451171875,
|
| 497 |
+
110.06192016601562
|
| 498 |
+
],
|
| 499 |
+
[
|
| 500 |
+
251.61813354492188,
|
| 501 |
+
109.51263427734375
|
| 502 |
+
],
|
| 503 |
+
[
|
| 504 |
+
260.6150817871094,
|
| 505 |
+
100.64129638671875
|
| 506 |
+
],
|
| 507 |
+
[
|
| 508 |
+
270.9724426269531,
|
| 509 |
+
71.30033874511719
|
| 510 |
+
],
|
| 511 |
+
[
|
| 512 |
+
287.1754150390625,
|
| 513 |
+
45.762664794921875
|
| 514 |
+
],
|
| 515 |
+
[
|
| 516 |
+
318.49102783203125,
|
| 517 |
+
34.980377197265625
|
| 518 |
+
],
|
| 519 |
+
[
|
| 520 |
+
361.9794921875,
|
| 521 |
+
95.83914947509766
|
| 522 |
+
],
|
| 523 |
+
[
|
| 524 |
+
380.6145324707031,
|
| 525 |
+
120.98624420166016
|
| 526 |
+
],
|
| 527 |
+
[
|
| 528 |
+
381.2147521972656,
|
| 529 |
+
120.12882232666016
|
| 530 |
+
],
|
| 531 |
+
[
|
| 532 |
+
387.60748291015625,
|
| 533 |
+
116.67733001708984
|
| 534 |
+
],
|
| 535 |
+
[
|
| 536 |
+
398.8565368652344,
|
| 537 |
+
121.942138671875
|
| 538 |
+
],
|
| 539 |
+
[
|
| 540 |
+
407.11785888671875,
|
| 541 |
+
136.0836639404297
|
| 542 |
+
],
|
| 543 |
+
[
|
| 544 |
+
417.59619140625,
|
| 545 |
+
146.8060302734375
|
| 546 |
+
],
|
| 547 |
+
[
|
| 548 |
+
435.0166931152344,
|
| 549 |
+
160.1822509765625
|
| 550 |
+
],
|
| 551 |
+
[
|
| 552 |
+
482.28643798828125,
|
| 553 |
+
173.96749877929688
|
| 554 |
+
],
|
| 555 |
+
[
|
| 556 |
+
523.9131469726562,
|
| 557 |
+
181.32568359375
|
| 558 |
+
],
|
| 559 |
+
[
|
| 560 |
+
562.407470703125,
|
| 561 |
+
201.83102416992188
|
| 562 |
+
],
|
| 563 |
+
[
|
| 564 |
+
556.9048461914062,
|
| 565 |
+
193.53225708007812
|
| 566 |
+
]
|
| 567 |
+
]
|
| 568 |
+
}
|
000213/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
pick up sponge and wipe plate
|
000230_v2/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Inconsistant moving trajectory between gripper and object
|
000231/data.json
ADDED
|
@@ -0,0 +1,568 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_start": 9,
|
| 3 |
+
"action_end": 26,
|
| 4 |
+
"object_name": "sponge",
|
| 5 |
+
"gripper_opens": [
|
| 6 |
+
1.0,
|
| 7 |
+
1.0,
|
| 8 |
+
1.0,
|
| 9 |
+
1.0,
|
| 10 |
+
1.0,
|
| 11 |
+
1.0,
|
| 12 |
+
1.0,
|
| 13 |
+
1.0,
|
| 14 |
+
1.0,
|
| 15 |
+
0.828083,
|
| 16 |
+
0.0,
|
| 17 |
+
0.0,
|
| 18 |
+
0.0,
|
| 19 |
+
0.0,
|
| 20 |
+
0.0,
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
0.0,
|
| 24 |
+
0.0,
|
| 25 |
+
0.0,
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0,
|
| 29 |
+
0.0,
|
| 30 |
+
0.0,
|
| 31 |
+
0.0,
|
| 32 |
+
0.0,
|
| 33 |
+
0.0
|
| 34 |
+
],
|
| 35 |
+
"gripper_actions": [
|
| 36 |
+
[
|
| 37 |
+
-4.994517577294744e-10,
|
| 38 |
+
-5.521341231440324e-10,
|
| 39 |
+
-3.7382746898018127e-10,
|
| 40 |
+
7.448376465438517e-07,
|
| 41 |
+
2.172496738637387e-08,
|
| 42 |
+
1.5075177419829952e-07,
|
| 43 |
+
1.0
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
-0.002708631895665503,
|
| 47 |
+
-0.021212933600515065,
|
| 48 |
+
-0.0011820457951400715,
|
| 49 |
+
-0.08295876777406896,
|
| 50 |
+
-0.023916687964719494,
|
| 51 |
+
-0.010876159786609555,
|
| 52 |
+
1.0
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.00625766366514563,
|
| 56 |
+
-0.02219673166188781,
|
| 57 |
+
0.0012671051431651509,
|
| 58 |
+
-0.049392535327162215,
|
| 59 |
+
-0.05534719162121677,
|
| 60 |
+
-0.01717608018074195,
|
| 61 |
+
1.0
|
| 62 |
+
],
|
| 63 |
+
[
|
| 64 |
+
0.00763386282888201,
|
| 65 |
+
-0.020218537491797715,
|
| 66 |
+
6.753408023642271e-05,
|
| 67 |
+
0.0054145618561327715,
|
| 68 |
+
-0.021435700738177434,
|
| 69 |
+
-0.004186139756992671,
|
| 70 |
+
1.0
|
| 71 |
+
],
|
| 72 |
+
[
|
| 73 |
+
0.012252109638099862,
|
| 74 |
+
-0.02027586399452686,
|
| 75 |
+
-0.0051481327456054105,
|
| 76 |
+
0.03779924161145786,
|
| 77 |
+
-0.018257983940959552,
|
| 78 |
+
0.016835296051169193,
|
| 79 |
+
1.0
|
| 80 |
+
],
|
| 81 |
+
[
|
| 82 |
+
0.007078754064143877,
|
| 83 |
+
-0.013278688735232039,
|
| 84 |
+
-0.006714637985757985,
|
| 85 |
+
0.03936825796576731,
|
| 86 |
+
-0.04620035340894516,
|
| 87 |
+
-0.05111342285508149,
|
| 88 |
+
1.0
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.007484043235534588,
|
| 92 |
+
-5.119909494149394e-05,
|
| 93 |
+
-0.011328594716662255,
|
| 94 |
+
0.04133006701213482,
|
| 95 |
+
0.023952648806092675,
|
| 96 |
+
0.007716200877767471,
|
| 97 |
+
1.0
|
| 98 |
+
],
|
| 99 |
+
[
|
| 100 |
+
0.012708688372252974,
|
| 101 |
+
0.0033556707694622698,
|
| 102 |
+
-0.003506202238354461,
|
| 103 |
+
0.030543842471313053,
|
| 104 |
+
-0.005601305087080255,
|
| 105 |
+
0.01706958287551787,
|
| 106 |
+
1.0
|
| 107 |
+
],
|
| 108 |
+
[
|
| 109 |
+
0.008375386106172333,
|
| 110 |
+
0.0026261378177432557,
|
| 111 |
+
-0.006085749681128724,
|
| 112 |
+
0.02737452099709858,
|
| 113 |
+
0.009492311667185161,
|
| 114 |
+
0.018710850513225012,
|
| 115 |
+
1.0
|
| 116 |
+
],
|
| 117 |
+
[
|
| 118 |
+
0.0018604741547779136,
|
| 119 |
+
-0.002345150611554027,
|
| 120 |
+
-0.010168500507273415,
|
| 121 |
+
0.025544429986832328,
|
| 122 |
+
0.0036879017879462117,
|
| 123 |
+
0.00901069848818163,
|
| 124 |
+
0.828083
|
| 125 |
+
],
|
| 126 |
+
[
|
| 127 |
+
-0.002335131013411984,
|
| 128 |
+
-0.0007181421746365463,
|
| 129 |
+
-0.0036637427382819887,
|
| 130 |
+
0.00492804108811881,
|
| 131 |
+
-0.009713644176403212,
|
| 132 |
+
0.008523186275775226,
|
| 133 |
+
0.0
|
| 134 |
+
],
|
| 135 |
+
[
|
| 136 |
+
-0.006160347132009025,
|
| 137 |
+
0.004071468139081845,
|
| 138 |
+
0.005477408822797278,
|
| 139 |
+
-0.0025983556945187577,
|
| 140 |
+
-0.03266772498059005,
|
| 141 |
+
0.012095710775535421,
|
| 142 |
+
0.0
|
| 143 |
+
],
|
| 144 |
+
[
|
| 145 |
+
0.004184845443925778,
|
| 146 |
+
0.011843616727620049,
|
| 147 |
+
0.02137733754323118,
|
| 148 |
+
-0.02993857992279771,
|
| 149 |
+
-0.028980180573115712,
|
| 150 |
+
0.042298017225537644,
|
| 151 |
+
0.0
|
| 152 |
+
],
|
| 153 |
+
[
|
| 154 |
+
0.01029530019064856,
|
| 155 |
+
0.025988835262105082,
|
| 156 |
+
0.028371100437391855,
|
| 157 |
+
-0.0514625746156267,
|
| 158 |
+
-0.017036267259224528,
|
| 159 |
+
0.07446928603370143,
|
| 160 |
+
0.0
|
| 161 |
+
],
|
| 162 |
+
[
|
| 163 |
+
0.003487983542272033,
|
| 164 |
+
0.03673203313801552,
|
| 165 |
+
0.016444678462942952,
|
| 166 |
+
-0.06322978875162606,
|
| 167 |
+
0.08341155170327169,
|
| 168 |
+
0.07782456429524855,
|
| 169 |
+
0.0
|
| 170 |
+
],
|
| 171 |
+
[
|
| 172 |
+
0.0007273875989863843,
|
| 173 |
+
0.03981658435056562,
|
| 174 |
+
0.006623095769283535,
|
| 175 |
+
-0.016300405586748664,
|
| 176 |
+
0.10264977805021307,
|
| 177 |
+
0.06502963769824534,
|
| 178 |
+
0.0
|
| 179 |
+
],
|
| 180 |
+
[
|
| 181 |
+
-0.00895362941759087,
|
| 182 |
+
0.030410941311388058,
|
| 183 |
+
0.0021993908260714568,
|
| 184 |
+
-0.025433933697560838,
|
| 185 |
+
0.12501502748898358,
|
| 186 |
+
-0.024326134935338646,
|
| 187 |
+
0.0
|
| 188 |
+
],
|
| 189 |
+
[
|
| 190 |
+
-0.014085877407161551,
|
| 191 |
+
0.02159046297263932,
|
| 192 |
+
-0.017009729320531755,
|
| 193 |
+
0.02956361409029428,
|
| 194 |
+
0.060907955479869935,
|
| 195 |
+
-0.04220615985049035,
|
| 196 |
+
0.0
|
| 197 |
+
],
|
| 198 |
+
[
|
| 199 |
+
-0.00802979864729264,
|
| 200 |
+
0.016245527956773212,
|
| 201 |
+
-0.013399822848948362,
|
| 202 |
+
0.04235977741110911,
|
| 203 |
+
0.020980331566671277,
|
| 204 |
+
-0.003685503387600704,
|
| 205 |
+
0.0
|
| 206 |
+
],
|
| 207 |
+
[
|
| 208 |
+
-0.009053162512743962,
|
| 209 |
+
0.012132861692491032,
|
| 210 |
+
-0.025775299928369466,
|
| 211 |
+
0.06673110921822883,
|
| 212 |
+
-0.023014028049606203,
|
| 213 |
+
-0.012994081767247924,
|
| 214 |
+
0.0
|
| 215 |
+
],
|
| 216 |
+
[
|
| 217 |
+
-0.0031964027866432376,
|
| 218 |
+
0.018883414127524895,
|
| 219 |
+
-0.020725028488862915,
|
| 220 |
+
0.02513667900649015,
|
| 221 |
+
0.04780752202006058,
|
| 222 |
+
-0.008549808342735572,
|
| 223 |
+
0.0
|
| 224 |
+
],
|
| 225 |
+
[
|
| 226 |
+
0.004914780167228683,
|
| 227 |
+
0.024544250442983584,
|
| 228 |
+
0.009261564042416695,
|
| 229 |
+
0.04409098521980148,
|
| 230 |
+
-0.08436926996190348,
|
| 231 |
+
0.030289002535255502,
|
| 232 |
+
0.0
|
| 233 |
+
],
|
| 234 |
+
[
|
| 235 |
+
0.006955535676831992,
|
| 236 |
+
0.026825725341934975,
|
| 237 |
+
0.017564583005051523,
|
| 238 |
+
0.027231033958390317,
|
| 239 |
+
0.006531430035834545,
|
| 240 |
+
0.013430964481700952,
|
| 241 |
+
0.0
|
| 242 |
+
],
|
| 243 |
+
[
|
| 244 |
+
0.0023110792323540186,
|
| 245 |
+
0.02320455480984701,
|
| 246 |
+
0.014346000170075271,
|
| 247 |
+
0.044853580914076506,
|
| 248 |
+
-0.03241670135266221,
|
| 249 |
+
0.026993471471222923,
|
| 250 |
+
0.0
|
| 251 |
+
],
|
| 252 |
+
[
|
| 253 |
+
0.005660441331587052,
|
| 254 |
+
0.019359890358703752,
|
| 255 |
+
-0.004482828613098663,
|
| 256 |
+
0.050733317323939646,
|
| 257 |
+
0.03583944282166158,
|
| 258 |
+
0.05963944542732412,
|
| 259 |
+
0.0
|
| 260 |
+
],
|
| 261 |
+
[
|
| 262 |
+
0.0018113156727866953,
|
| 263 |
+
0.014565729865435972,
|
| 264 |
+
-0.004129581355636028,
|
| 265 |
+
0.05217854342783062,
|
| 266 |
+
-0.020603929098299917,
|
| 267 |
+
0.03674206579677176,
|
| 268 |
+
0.0
|
| 269 |
+
],
|
| 270 |
+
[
|
| 271 |
+
-0.0006639798695028398,
|
| 272 |
+
0.005181781594054913,
|
| 273 |
+
-0.006710110468021738,
|
| 274 |
+
0.02888319050074618,
|
| 275 |
+
0.005876212341363727,
|
| 276 |
+
0.018209285752541177,
|
| 277 |
+
0.0
|
| 278 |
+
],
|
| 279 |
+
[
|
| 280 |
+
-0.018337363240221893,
|
| 281 |
+
-0.028366165040466768,
|
| 282 |
+
-0.00043401192464327665,
|
| 283 |
+
-0.062230809696232355,
|
| 284 |
+
0.013951204456037255,
|
| 285 |
+
-0.06513145225018337,
|
| 286 |
+
0.0
|
| 287 |
+
]
|
| 288 |
+
],
|
| 289 |
+
"gripper_centers": [
|
| 290 |
+
[
|
| 291 |
+
278.62646484375,
|
| 292 |
+
104.61466979980469
|
| 293 |
+
],
|
| 294 |
+
[
|
| 295 |
+
278.67181396484375,
|
| 296 |
+
110.18724822998047
|
| 297 |
+
],
|
| 298 |
+
[
|
| 299 |
+
299.9793701171875,
|
| 300 |
+
134.81716918945312
|
| 301 |
+
],
|
| 302 |
+
[
|
| 303 |
+
338.26629638671875,
|
| 304 |
+
141.728759765625
|
| 305 |
+
],
|
| 306 |
+
[
|
| 307 |
+
374.5420837402344,
|
| 308 |
+
144.0704803466797
|
| 309 |
+
],
|
| 310 |
+
[
|
| 311 |
+
413.56365966796875,
|
| 312 |
+
149.718505859375
|
| 313 |
+
],
|
| 314 |
+
[
|
| 315 |
+
447.9635009765625,
|
| 316 |
+
158.83047485351562
|
| 317 |
+
],
|
| 318 |
+
[
|
| 319 |
+
451.9280700683594,
|
| 320 |
+
174.60238647460938
|
| 321 |
+
],
|
| 322 |
+
[
|
| 323 |
+
447.78131103515625,
|
| 324 |
+
163.59732055664062
|
| 325 |
+
],
|
| 326 |
+
[
|
| 327 |
+
443.0676574707031,
|
| 328 |
+
158.90184020996094
|
| 329 |
+
],
|
| 330 |
+
[
|
| 331 |
+
433.2476806640625,
|
| 332 |
+
162.6443328857422
|
| 333 |
+
],
|
| 334 |
+
[
|
| 335 |
+
431.91796875,
|
| 336 |
+
162.3684844970703
|
| 337 |
+
],
|
| 338 |
+
[
|
| 339 |
+
431.385986328125,
|
| 340 |
+
167.476806640625
|
| 341 |
+
],
|
| 342 |
+
[
|
| 343 |
+
436.6699523925781,
|
| 344 |
+
162.4140625
|
| 345 |
+
],
|
| 346 |
+
[
|
| 347 |
+
413.71240234375,
|
| 348 |
+
111.80223846435547
|
| 349 |
+
],
|
| 350 |
+
[
|
| 351 |
+
359.97979736328125,
|
| 352 |
+
48.351036071777344
|
| 353 |
+
],
|
| 354 |
+
[
|
| 355 |
+
309.85662841796875,
|
| 356 |
+
24.9185848236084
|
| 357 |
+
],
|
| 358 |
+
[
|
| 359 |
+
259.3686218261719,
|
| 360 |
+
19.490642547607422
|
| 361 |
+
],
|
| 362 |
+
[
|
| 363 |
+
219.864990234375,
|
| 364 |
+
21.455501556396484
|
| 365 |
+
],
|
| 366 |
+
[
|
| 367 |
+
199.88772583007812,
|
| 368 |
+
40.6314697265625
|
| 369 |
+
],
|
| 370 |
+
[
|
| 371 |
+
188.72816467285156,
|
| 372 |
+
80.0557861328125
|
| 373 |
+
],
|
| 374 |
+
[
|
| 375 |
+
171.63009643554688,
|
| 376 |
+
93.81609344482422
|
| 377 |
+
],
|
| 378 |
+
[
|
| 379 |
+
162.10516357421875,
|
| 380 |
+
91.420654296875
|
| 381 |
+
],
|
| 382 |
+
[
|
| 383 |
+
135.03378295898438,
|
| 384 |
+
53.46242904663086
|
| 385 |
+
],
|
| 386 |
+
[
|
| 387 |
+
89.55174255371094,
|
| 388 |
+
31.993274688720703
|
| 389 |
+
],
|
| 390 |
+
[
|
| 391 |
+
77.12920379638672,
|
| 392 |
+
29.823930740356445
|
| 393 |
+
],
|
| 394 |
+
[
|
| 395 |
+
83.7412109375,
|
| 396 |
+
32.41237258911133
|
| 397 |
+
],
|
| 398 |
+
[
|
| 399 |
+
77.1571044921875,
|
| 400 |
+
34.86583709716797
|
| 401 |
+
]
|
| 402 |
+
],
|
| 403 |
+
"depth_max": 1.373651385307312,
|
| 404 |
+
"depth_min": 0.5994962453842163,
|
| 405 |
+
"intrinsic": [
|
| 406 |
+
[
|
| 407 |
+
610.9598999023438,
|
| 408 |
+
0.0,
|
| 409 |
+
259.0
|
| 410 |
+
],
|
| 411 |
+
[
|
| 412 |
+
0.0,
|
| 413 |
+
610.5479736328125,
|
| 414 |
+
196.0
|
| 415 |
+
],
|
| 416 |
+
[
|
| 417 |
+
0.0,
|
| 418 |
+
0.0,
|
| 419 |
+
1.0
|
| 420 |
+
]
|
| 421 |
+
],
|
| 422 |
+
"extrinsic": [
|
| 423 |
+
[
|
| 424 |
+
1.0,
|
| 425 |
+
4.273801459930837e-05,
|
| 426 |
+
8.609202632214874e-05,
|
| 427 |
+
-1.1786576578742824e-05
|
| 428 |
+
],
|
| 429 |
+
[
|
| 430 |
+
-4.2731116991490126e-05,
|
| 431 |
+
1.0,
|
| 432 |
+
-8.014019840629771e-05,
|
| 433 |
+
-2.370322727074381e-05
|
| 434 |
+
],
|
| 435 |
+
[
|
| 436 |
+
-8.60954460222274e-05,
|
| 437 |
+
8.013651677174494e-05,
|
| 438 |
+
1.0,
|
| 439 |
+
4.635161531041376e-06
|
| 440 |
+
]
|
| 441 |
+
],
|
| 442 |
+
"selected_indexes": [
|
| 443 |
+
0,
|
| 444 |
+
3,
|
| 445 |
+
6,
|
| 446 |
+
9,
|
| 447 |
+
12,
|
| 448 |
+
15,
|
| 449 |
+
18,
|
| 450 |
+
21,
|
| 451 |
+
24,
|
| 452 |
+
27
|
| 453 |
+
],
|
| 454 |
+
"object_trajectory": [
|
| 455 |
+
[
|
| 456 |
+
437.75,
|
| 457 |
+
223.0
|
| 458 |
+
],
|
| 459 |
+
[
|
| 460 |
+
438.260986328125,
|
| 461 |
+
222.5724639892578
|
| 462 |
+
],
|
| 463 |
+
[
|
| 464 |
+
438.150146484375,
|
| 465 |
+
223.60951232910156
|
| 466 |
+
],
|
| 467 |
+
[
|
| 468 |
+
438.26348876953125,
|
| 469 |
+
222.2684326171875
|
| 470 |
+
],
|
| 471 |
+
[
|
| 472 |
+
438.5106201171875,
|
| 473 |
+
221.00503540039062
|
| 474 |
+
],
|
| 475 |
+
[
|
| 476 |
+
437.68157958984375,
|
| 477 |
+
221.73974609375
|
| 478 |
+
],
|
| 479 |
+
[
|
| 480 |
+
436.89361572265625,
|
| 481 |
+
222.43948364257812
|
| 482 |
+
],
|
| 483 |
+
[
|
| 484 |
+
433.9995422363281,
|
| 485 |
+
220.95855712890625
|
| 486 |
+
],
|
| 487 |
+
[
|
| 488 |
+
427.5233154296875,
|
| 489 |
+
201.94395446777344
|
| 490 |
+
],
|
| 491 |
+
[
|
| 492 |
+
422.0556945800781,
|
| 493 |
+
190.2496337890625
|
| 494 |
+
],
|
| 495 |
+
[
|
| 496 |
+
414.3565673828125,
|
| 497 |
+
190.43336486816406
|
| 498 |
+
],
|
| 499 |
+
[
|
| 500 |
+
420.4680480957031,
|
| 501 |
+
192.76434326171875
|
| 502 |
+
],
|
| 503 |
+
[
|
| 504 |
+
421.15887451171875,
|
| 505 |
+
200.71168518066406
|
| 506 |
+
],
|
| 507 |
+
[
|
| 508 |
+
430.241455078125,
|
| 509 |
+
199.7213134765625
|
| 510 |
+
],
|
| 511 |
+
[
|
| 512 |
+
411.4619140625,
|
| 513 |
+
149.64007568359375
|
| 514 |
+
],
|
| 515 |
+
[
|
| 516 |
+
377.35565185546875,
|
| 517 |
+
105.66145324707031
|
| 518 |
+
],
|
| 519 |
+
[
|
| 520 |
+
327.90283203125,
|
| 521 |
+
83.65753936767578
|
| 522 |
+
],
|
| 523 |
+
[
|
| 524 |
+
277.80462646484375,
|
| 525 |
+
71.271728515625
|
| 526 |
+
],
|
| 527 |
+
[
|
| 528 |
+
235.32217407226562,
|
| 529 |
+
81.6208267211914
|
| 530 |
+
],
|
| 531 |
+
[
|
| 532 |
+
215.65472412109375,
|
| 533 |
+
99.74496459960938
|
| 534 |
+
],
|
| 535 |
+
[
|
| 536 |
+
204.57659912109375,
|
| 537 |
+
137.6063690185547
|
| 538 |
+
],
|
| 539 |
+
[
|
| 540 |
+
200.15562438964844,
|
| 541 |
+
136.38572692871094
|
| 542 |
+
],
|
| 543 |
+
[
|
| 544 |
+
191.2888946533203,
|
| 545 |
+
136.8202362060547
|
| 546 |
+
],
|
| 547 |
+
[
|
| 548 |
+
162.6531982421875,
|
| 549 |
+
102.48824310302734
|
| 550 |
+
],
|
| 551 |
+
[
|
| 552 |
+
117.60987854003906,
|
| 553 |
+
81.74930572509766
|
| 554 |
+
],
|
| 555 |
+
[
|
| 556 |
+
101.55426025390625,
|
| 557 |
+
80.966552734375
|
| 558 |
+
],
|
| 559 |
+
[
|
| 560 |
+
106.2931137084961,
|
| 561 |
+
80.61598205566406
|
| 562 |
+
],
|
| 563 |
+
[
|
| 564 |
+
105.44251251220703,
|
| 565 |
+
71.74392700195312
|
| 566 |
+
]
|
| 567 |
+
]
|
| 568 |
+
}
|
000231/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
pick up sponge and wipe plate
|
000232_v2/data.json
ADDED
|
@@ -0,0 +1,696 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_start": 12,
|
| 3 |
+
"action_end": 23,
|
| 4 |
+
"object_name": "green object",
|
| 5 |
+
"gripper_opens": [
|
| 6 |
+
1.0,
|
| 7 |
+
1.0,
|
| 8 |
+
1.0,
|
| 9 |
+
1.0,
|
| 10 |
+
1.0,
|
| 11 |
+
1.0,
|
| 12 |
+
1.0,
|
| 13 |
+
1.0,
|
| 14 |
+
1.0,
|
| 15 |
+
1.0,
|
| 16 |
+
1.0,
|
| 17 |
+
1.0,
|
| 18 |
+
1.0,
|
| 19 |
+
0.0,
|
| 20 |
+
0.0,
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
0.0,
|
| 24 |
+
0.0,
|
| 25 |
+
0.0,
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0,
|
| 29 |
+
0.85055,
|
| 30 |
+
1.0,
|
| 31 |
+
1.0,
|
| 32 |
+
1.0,
|
| 33 |
+
1.0,
|
| 34 |
+
1.0,
|
| 35 |
+
1.0,
|
| 36 |
+
1.0,
|
| 37 |
+
1.0,
|
| 38 |
+
1.0,
|
| 39 |
+
1.0,
|
| 40 |
+
1.0
|
| 41 |
+
],
|
| 42 |
+
"gripper_actions": [
|
| 43 |
+
[
|
| 44 |
+
1.6994439189232935e-10,
|
| 45 |
+
4.380505853884831e-11,
|
| 46 |
+
9.159878133768729e-10,
|
| 47 |
+
6.860690599774858e-08,
|
| 48 |
+
-1.7450792654570784e-07,
|
| 49 |
+
-1.1320995218862697e-08,
|
| 50 |
+
1.0
|
| 51 |
+
],
|
| 52 |
+
[
|
| 53 |
+
0.0008808861159754766,
|
| 54 |
+
0.009114992314796944,
|
| 55 |
+
-0.00617578216256676,
|
| 56 |
+
-0.0003070215454646394,
|
| 57 |
+
0.012370913678928749,
|
| 58 |
+
0.044406686086841674,
|
| 59 |
+
1.0
|
| 60 |
+
],
|
| 61 |
+
[
|
| 62 |
+
0.004677758863591119,
|
| 63 |
+
0.007368495155790109,
|
| 64 |
+
-0.008261763917262879,
|
| 65 |
+
0.01665812507976101,
|
| 66 |
+
0.01983050352977278,
|
| 67 |
+
0.03748791865103289,
|
| 68 |
+
1.0
|
| 69 |
+
],
|
| 70 |
+
[
|
| 71 |
+
0.014051839902571306,
|
| 72 |
+
0.009176378462923893,
|
| 73 |
+
-0.00220870896637306,
|
| 74 |
+
-0.014798311270526344,
|
| 75 |
+
0.007715713186685159,
|
| 76 |
+
0.04073391813690687,
|
| 77 |
+
1.0
|
| 78 |
+
],
|
| 79 |
+
[
|
| 80 |
+
0.008796304683270306,
|
| 81 |
+
0.006549901756032157,
|
| 82 |
+
0.028209162701833,
|
| 83 |
+
-0.057360486152495296,
|
| 84 |
+
-0.06197831600783691,
|
| 85 |
+
0.009403864418337043,
|
| 86 |
+
1.0
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
-0.003974410534681283,
|
| 90 |
+
-0.0015212075937431867,
|
| 91 |
+
0.028964993377854534,
|
| 92 |
+
-0.03650442884527505,
|
| 93 |
+
-0.06306317745139167,
|
| 94 |
+
-0.029347916190281573,
|
| 95 |
+
1.0
|
| 96 |
+
],
|
| 97 |
+
[
|
| 98 |
+
-0.006286688948845931,
|
| 99 |
+
-0.0048837371102096565,
|
| 100 |
+
0.016612430201321672,
|
| 101 |
+
0.00042940988028722257,
|
| 102 |
+
-0.047281152887829525,
|
| 103 |
+
-0.0127393921165948,
|
| 104 |
+
1.0
|
| 105 |
+
],
|
| 106 |
+
[
|
| 107 |
+
0.008705467374651998,
|
| 108 |
+
0.004809969718908305,
|
| 109 |
+
-0.004536651152105553,
|
| 110 |
+
0.02878415047683452,
|
| 111 |
+
-0.02247898666234804,
|
| 112 |
+
0.014853297999848851,
|
| 113 |
+
1.0
|
| 114 |
+
],
|
| 115 |
+
[
|
| 116 |
+
0.011379567019841219,
|
| 117 |
+
0.008387712083513792,
|
| 118 |
+
-0.01880027053499271,
|
| 119 |
+
0.030447711138327234,
|
| 120 |
+
0.005259381308514829,
|
| 121 |
+
0.0015680409814076539,
|
| 122 |
+
1.0
|
| 123 |
+
],
|
| 124 |
+
[
|
| 125 |
+
0.012379947124975144,
|
| 126 |
+
0.0060592068353692435,
|
| 127 |
+
-0.03000669492156522,
|
| 128 |
+
-0.000219699651784423,
|
| 129 |
+
0.01965660652682228,
|
| 130 |
+
0.0037043983014401487,
|
| 131 |
+
1.0
|
| 132 |
+
],
|
| 133 |
+
[
|
| 134 |
+
0.0101874738056148,
|
| 135 |
+
-0.004849185575422965,
|
| 136 |
+
-0.021233792295528083,
|
| 137 |
+
-0.019304647240595864,
|
| 138 |
+
0.038532312962816846,
|
| 139 |
+
-0.011784726664929098,
|
| 140 |
+
1.0
|
| 141 |
+
],
|
| 142 |
+
[
|
| 143 |
+
0.008549365760108563,
|
| 144 |
+
-0.00782773090202804,
|
| 145 |
+
-0.013530480999062105,
|
| 146 |
+
-0.034298361451868306,
|
| 147 |
+
0.019349723975228893,
|
| 148 |
+
-0.0021419685533295794,
|
| 149 |
+
1.0
|
| 150 |
+
],
|
| 151 |
+
[
|
| 152 |
+
0.005546023665385202,
|
| 153 |
+
-0.003460050474745062,
|
| 154 |
+
-0.011686635754866281,
|
| 155 |
+
-0.007644860821982649,
|
| 156 |
+
0.021286957384719668,
|
| 157 |
+
0.010064691275793881,
|
| 158 |
+
1.0
|
| 159 |
+
],
|
| 160 |
+
[
|
| 161 |
+
-0.000690039539485765,
|
| 162 |
+
0.0018120740679203676,
|
| 163 |
+
0.001085211533932616,
|
| 164 |
+
0.0013595600060127373,
|
| 165 |
+
-0.006401737175505565,
|
| 166 |
+
0.008600434745497598,
|
| 167 |
+
0.0
|
| 168 |
+
],
|
| 169 |
+
[
|
| 170 |
+
-0.004133863634017132,
|
| 171 |
+
0.0065029023798953214,
|
| 172 |
+
0.015416049317502123,
|
| 173 |
+
0.007213250836380683,
|
| 174 |
+
-0.027892964356068896,
|
| 175 |
+
0.00322053142156423,
|
| 176 |
+
0.0
|
| 177 |
+
],
|
| 178 |
+
[
|
| 179 |
+
-0.006960454789897097,
|
| 180 |
+
0.019710974621108338,
|
| 181 |
+
0.02109224583764813,
|
| 182 |
+
0.0059348483958287495,
|
| 183 |
+
-0.04460506395114837,
|
| 184 |
+
0.028061608848618674,
|
| 185 |
+
0.0
|
| 186 |
+
],
|
| 187 |
+
[
|
| 188 |
+
0.00038024073205455977,
|
| 189 |
+
0.037084137794266156,
|
| 190 |
+
0.009833578314038105,
|
| 191 |
+
0.04260034219137898,
|
| 192 |
+
-0.07507331964988065,
|
| 193 |
+
0.04413057050537724,
|
| 194 |
+
0.0
|
| 195 |
+
],
|
| 196 |
+
[
|
| 197 |
+
0.01939112593689446,
|
| 198 |
+
0.0373853729971179,
|
| 199 |
+
0.004393700482196963,
|
| 200 |
+
0.09028448772660949,
|
| 201 |
+
-0.1288992184093948,
|
| 202 |
+
-0.005894194863566249,
|
| 203 |
+
0.0
|
| 204 |
+
],
|
| 205 |
+
[
|
| 206 |
+
0.021616884482820897,
|
| 207 |
+
0.019859537834786417,
|
| 208 |
+
0.00022998178533467292,
|
| 209 |
+
-0.006289953103877436,
|
| 210 |
+
-0.09325089706872004,
|
| 211 |
+
0.020703533612607423,
|
| 212 |
+
0.0
|
| 213 |
+
],
|
| 214 |
+
[
|
| 215 |
+
0.018827731241988332,
|
| 216 |
+
0.003754076749754781,
|
| 217 |
+
0.0021773446923553513,
|
| 218 |
+
-0.05903402364121123,
|
| 219 |
+
-0.07577071045232239,
|
| 220 |
+
0.0024453050096198284,
|
| 221 |
+
0.0
|
| 222 |
+
],
|
| 223 |
+
[
|
| 224 |
+
0.011273535593993134,
|
| 225 |
+
-0.002178727767965294,
|
| 226 |
+
0.003028410417559687,
|
| 227 |
+
-0.012097109089965138,
|
| 228 |
+
-0.041215656029063165,
|
| 229 |
+
-0.001559362872173798,
|
| 230 |
+
0.0
|
| 231 |
+
],
|
| 232 |
+
[
|
| 233 |
+
0.010493289224044022,
|
| 234 |
+
0.006020232649994545,
|
| 235 |
+
-0.009027118489026714,
|
| 236 |
+
-0.00015564754961873946,
|
| 237 |
+
-0.008389449929920545,
|
| 238 |
+
0.025365411410249738,
|
| 239 |
+
0.0
|
| 240 |
+
],
|
| 241 |
+
[
|
| 242 |
+
0.0025470708794430585,
|
| 243 |
+
0.0029353784441513986,
|
| 244 |
+
-0.009989206101532776,
|
| 245 |
+
0.003622333317429729,
|
| 246 |
+
0.025792357129229483,
|
| 247 |
+
0.028860070317085457,
|
| 248 |
+
0.0
|
| 249 |
+
],
|
| 250 |
+
[
|
| 251 |
+
-0.002724843244179098,
|
| 252 |
+
-0.003945202865902914,
|
| 253 |
+
-0.001709304104906514,
|
| 254 |
+
-0.02727190172355222,
|
| 255 |
+
-0.0037290140382472974,
|
| 256 |
+
0.025164837572122473,
|
| 257 |
+
0.85055
|
| 258 |
+
],
|
| 259 |
+
[
|
| 260 |
+
-0.008149724659091251,
|
| 261 |
+
-0.00596400766854413,
|
| 262 |
+
0.012262755277341228,
|
| 263 |
+
-0.03933774524506461,
|
| 264 |
+
-0.03736106617304244,
|
| 265 |
+
0.01313443906118101,
|
| 266 |
+
1.0
|
| 267 |
+
],
|
| 268 |
+
[
|
| 269 |
+
-0.01295682715851687,
|
| 270 |
+
-0.00769428448554943,
|
| 271 |
+
0.02111884835519855,
|
| 272 |
+
0.0007982200118808203,
|
| 273 |
+
-0.023876288942537682,
|
| 274 |
+
-0.019999834583297137,
|
| 275 |
+
1.0
|
| 276 |
+
],
|
| 277 |
+
[
|
| 278 |
+
-0.031407867120217925,
|
| 279 |
+
-0.017621214205418984,
|
| 280 |
+
0.024387491539860605,
|
| 281 |
+
-0.03520965906068584,
|
| 282 |
+
0.07187464892594386,
|
| 283 |
+
-0.02126170157098301,
|
| 284 |
+
1.0
|
| 285 |
+
],
|
| 286 |
+
[
|
| 287 |
+
-0.03296555264622558,
|
| 288 |
+
-0.013464703901793357,
|
| 289 |
+
-0.0018420096961141857,
|
| 290 |
+
-0.032330878516028956,
|
| 291 |
+
0.1292253056351224,
|
| 292 |
+
-0.02105491173601095,
|
| 293 |
+
1.0
|
| 294 |
+
],
|
| 295 |
+
[
|
| 296 |
+
-0.028033025062418948,
|
| 297 |
+
-0.01773381519141437,
|
| 298 |
+
-0.015209662125830865,
|
| 299 |
+
-0.036625849303748036,
|
| 300 |
+
0.13874909380499958,
|
| 301 |
+
-0.1133107228249386,
|
| 302 |
+
1.0
|
| 303 |
+
],
|
| 304 |
+
[
|
| 305 |
+
-0.010419304963690645,
|
| 306 |
+
-0.013533426109208616,
|
| 307 |
+
-0.01599945040427836,
|
| 308 |
+
0.01165313412681889,
|
| 309 |
+
0.08303055705781977,
|
| 310 |
+
-0.11922241322607505,
|
| 311 |
+
1.0
|
| 312 |
+
],
|
| 313 |
+
[
|
| 314 |
+
-0.0010220629511521473,
|
| 315 |
+
-0.008096947756502562,
|
| 316 |
+
-0.011192414922297347,
|
| 317 |
+
0.048452767186525615,
|
| 318 |
+
0.026603321813145127,
|
| 319 |
+
-0.08693973713917265,
|
| 320 |
+
1.0
|
| 321 |
+
],
|
| 322 |
+
[
|
| 323 |
+
-0.002749222791672834,
|
| 324 |
+
-0.000735245008495658,
|
| 325 |
+
-0.0020970293252256453,
|
| 326 |
+
0.04757148022400291,
|
| 327 |
+
-0.000272994434093246,
|
| 328 |
+
-0.02598119814390804,
|
| 329 |
+
1.0
|
| 330 |
+
],
|
| 331 |
+
[
|
| 332 |
+
-0.004893973303470078,
|
| 333 |
+
-0.0012694857142284133,
|
| 334 |
+
-0.00045189609433271896,
|
| 335 |
+
0.02071488880794294,
|
| 336 |
+
0.0003135412013410574,
|
| 337 |
+
0.02143091455184387,
|
| 338 |
+
1.0
|
| 339 |
+
],
|
| 340 |
+
[
|
| 341 |
+
0.0,
|
| 342 |
+
0.0,
|
| 343 |
+
0.0,
|
| 344 |
+
0.0,
|
| 345 |
+
0.0,
|
| 346 |
+
0.0,
|
| 347 |
+
1.0
|
| 348 |
+
],
|
| 349 |
+
[
|
| 350 |
+
0.0,
|
| 351 |
+
0.0,
|
| 352 |
+
0.0,
|
| 353 |
+
0.0,
|
| 354 |
+
0.0,
|
| 355 |
+
0.0,
|
| 356 |
+
1.0
|
| 357 |
+
]
|
| 358 |
+
],
|
| 359 |
+
"gripper_centers": [
|
| 360 |
+
[
|
| 361 |
+
351.6886901855469,
|
| 362 |
+
215.4785614013672
|
| 363 |
+
],
|
| 364 |
+
[
|
| 365 |
+
349.9954833984375,
|
| 366 |
+
217.98931884765625
|
| 367 |
+
],
|
| 368 |
+
[
|
| 369 |
+
344.8349609375,
|
| 370 |
+
245.70791625976562
|
| 371 |
+
],
|
| 372 |
+
[
|
| 373 |
+
343.2548522949219,
|
| 374 |
+
244.5107421875
|
| 375 |
+
],
|
| 376 |
+
[
|
| 377 |
+
345.6661071777344,
|
| 378 |
+
248.311767578125
|
| 379 |
+
],
|
| 380 |
+
[
|
| 381 |
+
339.97442626953125,
|
| 382 |
+
240.73117065429688
|
| 383 |
+
],
|
| 384 |
+
[
|
| 385 |
+
333.46435546875,
|
| 386 |
+
229.4464874267578
|
| 387 |
+
],
|
| 388 |
+
[
|
| 389 |
+
338.347412109375,
|
| 390 |
+
191.69473266601562
|
| 391 |
+
],
|
| 392 |
+
[
|
| 393 |
+
334.5169677734375,
|
| 394 |
+
188.15447998046875
|
| 395 |
+
],
|
| 396 |
+
[
|
| 397 |
+
334.6051025390625,
|
| 398 |
+
184.5609893798828
|
| 399 |
+
],
|
| 400 |
+
[
|
| 401 |
+
336.03533935546875,
|
| 402 |
+
207.25843811035156
|
| 403 |
+
],
|
| 404 |
+
[
|
| 405 |
+
337.77545166015625,
|
| 406 |
+
227.543701171875
|
| 407 |
+
],
|
| 408 |
+
[
|
| 409 |
+
343.1138916015625,
|
| 410 |
+
241.0392608642578
|
| 411 |
+
],
|
| 412 |
+
[
|
| 413 |
+
346.06890869140625,
|
| 414 |
+
245.93310546875
|
| 415 |
+
],
|
| 416 |
+
[
|
| 417 |
+
344.63507080078125,
|
| 418 |
+
247.29910278320312
|
| 419 |
+
],
|
| 420 |
+
[
|
| 421 |
+
342.95001220703125,
|
| 422 |
+
247.7716827392578
|
| 423 |
+
],
|
| 424 |
+
[
|
| 425 |
+
341.83636474609375,
|
| 426 |
+
252.0015869140625
|
| 427 |
+
],
|
| 428 |
+
[
|
| 429 |
+
318.2889099121094,
|
| 430 |
+
224.6824493408203
|
| 431 |
+
],
|
| 432 |
+
[
|
| 433 |
+
266.60467529296875,
|
| 434 |
+
206.65298461914062
|
| 435 |
+
],
|
| 436 |
+
[
|
| 437 |
+
270.01788330078125,
|
| 438 |
+
194.82266235351562
|
| 439 |
+
],
|
| 440 |
+
[
|
| 441 |
+
272.2973327636719,
|
| 442 |
+
169.3916473388672
|
| 443 |
+
],
|
| 444 |
+
[
|
| 445 |
+
264.33563232421875,
|
| 446 |
+
171.10333251953125
|
| 447 |
+
],
|
| 448 |
+
[
|
| 449 |
+
266.9594421386719,
|
| 450 |
+
164.30001831054688
|
| 451 |
+
],
|
| 452 |
+
[
|
| 453 |
+
265.8360290527344,
|
| 454 |
+
175.3217010498047
|
| 455 |
+
],
|
| 456 |
+
[
|
| 457 |
+
264.542236328125,
|
| 458 |
+
175.63934326171875
|
| 459 |
+
],
|
| 460 |
+
[
|
| 461 |
+
266.9186706542969,
|
| 462 |
+
188.551513671875
|
| 463 |
+
],
|
| 464 |
+
[
|
| 465 |
+
269.7181396484375,
|
| 466 |
+
191.67791748046875
|
| 467 |
+
],
|
| 468 |
+
[
|
| 469 |
+
266.08935546875,
|
| 470 |
+
176.963623046875
|
| 471 |
+
],
|
| 472 |
+
[
|
| 473 |
+
262.539794921875,
|
| 474 |
+
160.5389862060547
|
| 475 |
+
],
|
| 476 |
+
[
|
| 477 |
+
258.85540771484375,
|
| 478 |
+
184.62240600585938
|
| 479 |
+
],
|
| 480 |
+
[
|
| 481 |
+
257.078857421875,
|
| 482 |
+
196.88064575195312
|
| 483 |
+
],
|
| 484 |
+
[
|
| 485 |
+
253.51048278808594,
|
| 486 |
+
202.1265411376953
|
| 487 |
+
],
|
| 488 |
+
[
|
| 489 |
+
260.20294189453125,
|
| 490 |
+
212.20535278320312
|
| 491 |
+
],
|
| 492 |
+
[
|
| 493 |
+
255.31935119628906,
|
| 494 |
+
222.91957092285156
|
| 495 |
+
],
|
| 496 |
+
[
|
| 497 |
+
253.751953125,
|
| 498 |
+
226.832275390625
|
| 499 |
+
]
|
| 500 |
+
],
|
| 501 |
+
"depth_max": 1.3000001907348633,
|
| 502 |
+
"depth_min": 0.04912344366312027,
|
| 503 |
+
"intrinsic": [
|
| 504 |
+
[
|
| 505 |
+
503.5863342285156,
|
| 506 |
+
0.0,
|
| 507 |
+
259.0
|
| 508 |
+
],
|
| 509 |
+
[
|
| 510 |
+
0.0,
|
| 511 |
+
502.945068359375,
|
| 512 |
+
196.0
|
| 513 |
+
],
|
| 514 |
+
[
|
| 515 |
+
0.0,
|
| 516 |
+
0.0,
|
| 517 |
+
1.0
|
| 518 |
+
]
|
| 519 |
+
],
|
| 520 |
+
"extrinsic": [
|
| 521 |
+
[
|
| 522 |
+
1.0,
|
| 523 |
+
-2.2047750462661497e-05,
|
| 524 |
+
-7.35536523279734e-05,
|
| 525 |
+
-2.4048586055869237e-06
|
| 526 |
+
],
|
| 527 |
+
[
|
| 528 |
+
2.2051402993383817e-05,
|
| 529 |
+
1.0,
|
| 530 |
+
4.96606771775987e-05,
|
| 531 |
+
-4.514357715379447e-05
|
| 532 |
+
],
|
| 533 |
+
[
|
| 534 |
+
7.355256093433127e-05,
|
| 535 |
+
-4.966229971614666e-05,
|
| 536 |
+
1.0,
|
| 537 |
+
4.4023734517395496e-05
|
| 538 |
+
]
|
| 539 |
+
],
|
| 540 |
+
"selected_indexes": [
|
| 541 |
+
0,
|
| 542 |
+
3,
|
| 543 |
+
6,
|
| 544 |
+
9,
|
| 545 |
+
12,
|
| 546 |
+
15,
|
| 547 |
+
18,
|
| 548 |
+
21,
|
| 549 |
+
24,
|
| 550 |
+
27,
|
| 551 |
+
30,
|
| 552 |
+
34
|
| 553 |
+
],
|
| 554 |
+
"object_trajectory": [
|
| 555 |
+
[
|
| 556 |
+
325.0,
|
| 557 |
+
263.5
|
| 558 |
+
],
|
| 559 |
+
[
|
| 560 |
+
325.12969970703125,
|
| 561 |
+
263.697509765625
|
| 562 |
+
],
|
| 563 |
+
[
|
| 564 |
+
325.8389892578125,
|
| 565 |
+
264.00848388671875
|
| 566 |
+
],
|
| 567 |
+
[
|
| 568 |
+
325.8283996582031,
|
| 569 |
+
263.8106384277344
|
| 570 |
+
],
|
| 571 |
+
[
|
| 572 |
+
325.8174133300781,
|
| 573 |
+
260.8199768066406
|
| 574 |
+
],
|
| 575 |
+
[
|
| 576 |
+
325.1907958984375,
|
| 577 |
+
263.57659912109375
|
| 578 |
+
],
|
| 579 |
+
[
|
| 580 |
+
325.0378112792969,
|
| 581 |
+
263.81207275390625
|
| 582 |
+
],
|
| 583 |
+
[
|
| 584 |
+
324.7808532714844,
|
| 585 |
+
263.9259033203125
|
| 586 |
+
],
|
| 587 |
+
[
|
| 588 |
+
324.7226257324219,
|
| 589 |
+
264.41009521484375
|
| 590 |
+
],
|
| 591 |
+
[
|
| 592 |
+
324.520263671875,
|
| 593 |
+
264.9322204589844
|
| 594 |
+
],
|
| 595 |
+
[
|
| 596 |
+
324.5157470703125,
|
| 597 |
+
264.9490661621094
|
| 598 |
+
],
|
| 599 |
+
[
|
| 600 |
+
324.5349426269531,
|
| 601 |
+
265.36163330078125
|
| 602 |
+
],
|
| 603 |
+
[
|
| 604 |
+
329.6158447265625,
|
| 605 |
+
265.16357421875
|
| 606 |
+
],
|
| 607 |
+
[
|
| 608 |
+
338.75665283203125,
|
| 609 |
+
266.0439453125
|
| 610 |
+
],
|
| 611 |
+
[
|
| 612 |
+
335.5613098144531,
|
| 613 |
+
265.3143005371094
|
| 614 |
+
],
|
| 615 |
+
[
|
| 616 |
+
332.455078125,
|
| 617 |
+
265.44366455078125
|
| 618 |
+
],
|
| 619 |
+
[
|
| 620 |
+
331.5246276855469,
|
| 621 |
+
272.4017333984375
|
| 622 |
+
],
|
| 623 |
+
[
|
| 624 |
+
307.0743408203125,
|
| 625 |
+
244.1390380859375
|
| 626 |
+
],
|
| 627 |
+
[
|
| 628 |
+
259.1492919921875,
|
| 629 |
+
226.43243408203125
|
| 630 |
+
],
|
| 631 |
+
[
|
| 632 |
+
263.5377197265625,
|
| 633 |
+
211.16513061523438
|
| 634 |
+
],
|
| 635 |
+
[
|
| 636 |
+
269.5932922363281,
|
| 637 |
+
188.5745849609375
|
| 638 |
+
],
|
| 639 |
+
[
|
| 640 |
+
267.1465759277344,
|
| 641 |
+
192.61563110351562
|
| 642 |
+
],
|
| 643 |
+
[
|
| 644 |
+
266.8553161621094,
|
| 645 |
+
183.95272827148438
|
| 646 |
+
],
|
| 647 |
+
[
|
| 648 |
+
267.4885559082031,
|
| 649 |
+
196.17507934570312
|
| 650 |
+
],
|
| 651 |
+
[
|
| 652 |
+
266.46478271484375,
|
| 653 |
+
196.61610412597656
|
| 654 |
+
],
|
| 655 |
+
[
|
| 656 |
+
270.6856384277344,
|
| 657 |
+
194.505859375
|
| 658 |
+
],
|
| 659 |
+
[
|
| 660 |
+
272.6578369140625,
|
| 661 |
+
195.5906982421875
|
| 662 |
+
],
|
| 663 |
+
[
|
| 664 |
+
274.988037109375,
|
| 665 |
+
191.93260192871094
|
| 666 |
+
],
|
| 667 |
+
[
|
| 668 |
+
275.2503662109375,
|
| 669 |
+
192.5987548828125
|
| 670 |
+
],
|
| 671 |
+
[
|
| 672 |
+
273.0538330078125,
|
| 673 |
+
194.3229522705078
|
| 674 |
+
],
|
| 675 |
+
[
|
| 676 |
+
271.1239013671875,
|
| 677 |
+
197.00242614746094
|
| 678 |
+
],
|
| 679 |
+
[
|
| 680 |
+
268.9591979980469,
|
| 681 |
+
199.40362548828125
|
| 682 |
+
],
|
| 683 |
+
[
|
| 684 |
+
272.7283630371094,
|
| 685 |
+
195.95187377929688
|
| 686 |
+
],
|
| 687 |
+
[
|
| 688 |
+
272.946533203125,
|
| 689 |
+
199.06637573242188
|
| 690 |
+
],
|
| 691 |
+
[
|
| 692 |
+
271.1402282714844,
|
| 693 |
+
203.42037963867188
|
| 694 |
+
]
|
| 695 |
+
]
|
| 696 |
+
}
|
000232_v2/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
takes the green object and places it on the top left burner
|
000232_v2/object.ply
ADDED
|
Binary file (20 kB). View file
|
|
|
000257_v2/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Inconsistant moving trajectory between gripper and object
|
000267/data.json
ADDED
|
@@ -0,0 +1,476 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_start": 10,
|
| 3 |
+
"action_end": 21,
|
| 4 |
+
"object_name": "cup",
|
| 5 |
+
"gripper_opens": [
|
| 6 |
+
1.0,
|
| 7 |
+
1.0,
|
| 8 |
+
1.0,
|
| 9 |
+
1.0,
|
| 10 |
+
1.0,
|
| 11 |
+
1.0,
|
| 12 |
+
1.0,
|
| 13 |
+
1.0,
|
| 14 |
+
1.0,
|
| 15 |
+
1.0,
|
| 16 |
+
1.0,
|
| 17 |
+
0.0,
|
| 18 |
+
0.0,
|
| 19 |
+
0.0,
|
| 20 |
+
0.0,
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
0.0,
|
| 24 |
+
0.0,
|
| 25 |
+
0.0,
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
"gripper_actions": [
|
| 31 |
+
[
|
| 32 |
+
0.0,
|
| 33 |
+
0.0,
|
| 34 |
+
-6.938893903907228e-18,
|
| 35 |
+
-1.587000384998039e-07,
|
| 36 |
+
-4.920186643605016e-07,
|
| 37 |
+
-1.0672332721464894e-07,
|
| 38 |
+
1.0
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0037395186890869514,
|
| 42 |
+
0.0007960043997594091,
|
| 43 |
+
-0.01682416385280111,
|
| 44 |
+
-0.019848502705504877,
|
| 45 |
+
-0.02263670068089553,
|
| 46 |
+
-0.03300024364399608,
|
| 47 |
+
1.0
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.006467404945940558,
|
| 51 |
+
0.003393494270051145,
|
| 52 |
+
-0.015499275760642167,
|
| 53 |
+
-0.007524708693428875,
|
| 54 |
+
-0.02449037437113126,
|
| 55 |
+
-0.04312001509086949,
|
| 56 |
+
1.0
|
| 57 |
+
],
|
| 58 |
+
[
|
| 59 |
+
0.0040322581401947555,
|
| 60 |
+
0.0030268694189937717,
|
| 61 |
+
-0.011700120634085483,
|
| 62 |
+
-0.006327522162785304,
|
| 63 |
+
-0.01375365980589881,
|
| 64 |
+
-0.048960508485328014,
|
| 65 |
+
1.0
|
| 66 |
+
],
|
| 67 |
+
[
|
| 68 |
+
0.005665239870879468,
|
| 69 |
+
-0.0013869376830356814,
|
| 70 |
+
-0.011424824493151294,
|
| 71 |
+
0.012984176234568778,
|
| 72 |
+
-0.013281984050837062,
|
| 73 |
+
-0.015742109517251853,
|
| 74 |
+
1.0
|
| 75 |
+
],
|
| 76 |
+
[
|
| 77 |
+
0.0041482735096124435,
|
| 78 |
+
-0.00029469103916419936,
|
| 79 |
+
-0.010025790501185728,
|
| 80 |
+
0.0071687364623261645,
|
| 81 |
+
-0.003564408971099205,
|
| 82 |
+
-0.018451442615895503,
|
| 83 |
+
1.0
|
| 84 |
+
],
|
| 85 |
+
[
|
| 86 |
+
-0.00037968114937048103,
|
| 87 |
+
-0.001813038766970268,
|
| 88 |
+
-0.006775706253630047,
|
| 89 |
+
0.0009156913485522956,
|
| 90 |
+
-0.002398639946772,
|
| 91 |
+
-0.007874048657217017,
|
| 92 |
+
1.0
|
| 93 |
+
],
|
| 94 |
+
[
|
| 95 |
+
-0.0009798299118231046,
|
| 96 |
+
-0.001095410652540374,
|
| 97 |
+
-0.004119937618304009,
|
| 98 |
+
0.012428139426554257,
|
| 99 |
+
-0.0009473393036928234,
|
| 100 |
+
-0.009543065114732555,
|
| 101 |
+
1.0
|
| 102 |
+
],
|
| 103 |
+
[
|
| 104 |
+
0.006147389377322454,
|
| 105 |
+
0.0016424339478294664,
|
| 106 |
+
-0.007891077318117303,
|
| 107 |
+
0.019650905177797304,
|
| 108 |
+
-0.018404099039763335,
|
| 109 |
+
-0.0014681497916141236,
|
| 110 |
+
1.0
|
| 111 |
+
],
|
| 112 |
+
[
|
| 113 |
+
0.005068355848349582,
|
| 114 |
+
3.624268952303472e-05,
|
| 115 |
+
-0.008245118191484668,
|
| 116 |
+
0.016138768767900834,
|
| 117 |
+
-0.006790484863929935,
|
| 118 |
+
1.567942377042643e-05,
|
| 119 |
+
1.0
|
| 120 |
+
],
|
| 121 |
+
[
|
| 122 |
+
0.0014962571042677064,
|
| 123 |
+
6.275054384020928e-05,
|
| 124 |
+
-0.009762786925889638,
|
| 125 |
+
0.007762340013399381,
|
| 126 |
+
-0.010391145171125011,
|
| 127 |
+
0.007701269493481403,
|
| 128 |
+
1.0
|
| 129 |
+
],
|
| 130 |
+
[
|
| 131 |
+
-0.0005531262893641586,
|
| 132 |
+
0.0005409565602855701,
|
| 133 |
+
-0.011206288139857218,
|
| 134 |
+
0.016757812670506134,
|
| 135 |
+
-0.009018212548914507,
|
| 136 |
+
0.009545785883427253,
|
| 137 |
+
0.0
|
| 138 |
+
],
|
| 139 |
+
[
|
| 140 |
+
-0.0031843822008175704,
|
| 141 |
+
0.0011238675172749735,
|
| 142 |
+
-0.0030463187494838145,
|
| 143 |
+
0.0070260183524659126,
|
| 144 |
+
-0.0041058031040065255,
|
| 145 |
+
-0.0025866285351778236,
|
| 146 |
+
0.0
|
| 147 |
+
],
|
| 148 |
+
[
|
| 149 |
+
-0.0015598568951319391,
|
| 150 |
+
0.0011953489188133368,
|
| 151 |
+
0.0024298160485533016,
|
| 152 |
+
0.0042199223872991555,
|
| 153 |
+
0.0046415731529986185,
|
| 154 |
+
-0.003446797103489478,
|
| 155 |
+
0.0
|
| 156 |
+
],
|
| 157 |
+
[
|
| 158 |
+
0.0002498930727667381,
|
| 159 |
+
0.0029532135008748933,
|
| 160 |
+
0.004539383941936606,
|
| 161 |
+
-0.0068151666020492664,
|
| 162 |
+
-0.0004988398960864503,
|
| 163 |
+
-0.005265596401761571,
|
| 164 |
+
0.0
|
| 165 |
+
],
|
| 166 |
+
[
|
| 167 |
+
0.0003594346437774676,
|
| 168 |
+
0.0013497488953125997,
|
| 169 |
+
0.02221232999327402,
|
| 170 |
+
-0.020177748169204916,
|
| 171 |
+
0.014845589330629466,
|
| 172 |
+
-0.02409941657017454,
|
| 173 |
+
0.0
|
| 174 |
+
],
|
| 175 |
+
[
|
| 176 |
+
-0.00013056618068030268,
|
| 177 |
+
0.0012535270408702004,
|
| 178 |
+
0.02813276492586285,
|
| 179 |
+
-0.012627173813547825,
|
| 180 |
+
0.014993130933893796,
|
| 181 |
+
-0.04177826514661221,
|
| 182 |
+
0.0
|
| 183 |
+
],
|
| 184 |
+
[
|
| 185 |
+
-0.012538727190225973,
|
| 186 |
+
-0.005539184408339781,
|
| 187 |
+
0.021949083341130098,
|
| 188 |
+
-0.016120038739514165,
|
| 189 |
+
4.735404864586531e-05,
|
| 190 |
+
-0.024635383324137314,
|
| 191 |
+
0.0
|
| 192 |
+
],
|
| 193 |
+
[
|
| 194 |
+
-0.009258786960926857,
|
| 195 |
+
-0.0011121507732272107,
|
| 196 |
+
0.017506645659742137,
|
| 197 |
+
-0.02731788275981513,
|
| 198 |
+
-0.02482136620984021,
|
| 199 |
+
-0.02071012326566073,
|
| 200 |
+
0.0
|
| 201 |
+
],
|
| 202 |
+
[
|
| 203 |
+
-0.008226709038274105,
|
| 204 |
+
0.001257316677594253,
|
| 205 |
+
0.015383793901735216,
|
| 206 |
+
-0.010031769024391136,
|
| 207 |
+
-0.020254895548436118,
|
| 208 |
+
-0.005166608172358615,
|
| 209 |
+
0.0
|
| 210 |
+
],
|
| 211 |
+
[
|
| 212 |
+
0.0017183788700989022,
|
| 213 |
+
-0.007439219130242723,
|
| 214 |
+
0.03051435868511665,
|
| 215 |
+
-0.02178181937375599,
|
| 216 |
+
0.012918695175329049,
|
| 217 |
+
0.022119561227266667,
|
| 218 |
+
0.0
|
| 219 |
+
],
|
| 220 |
+
[
|
| 221 |
+
0.0013127810418956942,
|
| 222 |
+
-0.007066745632613947,
|
| 223 |
+
0.02814994152977658,
|
| 224 |
+
-0.02093338410707984,
|
| 225 |
+
0.04488104196941344,
|
| 226 |
+
0.00846850216308157,
|
| 227 |
+
0.0
|
| 228 |
+
],
|
| 229 |
+
[
|
| 230 |
+
0.006237777323748084,
|
| 231 |
+
-0.004636676457688463,
|
| 232 |
+
0.012988156225944882,
|
| 233 |
+
0.00858359132275311,
|
| 234 |
+
-0.004626514769296399,
|
| 235 |
+
0.0010055846269754127,
|
| 236 |
+
0.0
|
| 237 |
+
]
|
| 238 |
+
],
|
| 239 |
+
"gripper_centers": [
|
| 240 |
+
[
|
| 241 |
+
475.4850158691406,
|
| 242 |
+
147.64488220214844
|
| 243 |
+
],
|
| 244 |
+
[
|
| 245 |
+
472.5243835449219,
|
| 246 |
+
165.73065185546875
|
| 247 |
+
],
|
| 248 |
+
[
|
| 249 |
+
472.350341796875,
|
| 250 |
+
188.03929138183594
|
| 251 |
+
],
|
| 252 |
+
[
|
| 253 |
+
472.93310546875,
|
| 254 |
+
199.40548706054688
|
| 255 |
+
],
|
| 256 |
+
[
|
| 257 |
+
466.11663818359375,
|
| 258 |
+
207.77426147460938
|
| 259 |
+
],
|
| 260 |
+
[
|
| 261 |
+
461.5518493652344,
|
| 262 |
+
215.45326232910156
|
| 263 |
+
],
|
| 264 |
+
[
|
| 265 |
+
464.098388671875,
|
| 266 |
+
222.01031494140625
|
| 267 |
+
],
|
| 268 |
+
[
|
| 269 |
+
468.90655517578125,
|
| 270 |
+
228.24862670898438
|
| 271 |
+
],
|
| 272 |
+
[
|
| 273 |
+
470.6935729980469,
|
| 274 |
+
228.6322784423828
|
| 275 |
+
],
|
| 276 |
+
[
|
| 277 |
+
474.31500244140625,
|
| 278 |
+
243.37875366210938
|
| 279 |
+
],
|
| 280 |
+
[
|
| 281 |
+
479.8056945800781,
|
| 282 |
+
242.99594116210938
|
| 283 |
+
],
|
| 284 |
+
[
|
| 285 |
+
480.0583801269531,
|
| 286 |
+
249.63421630859375
|
| 287 |
+
],
|
| 288 |
+
[
|
| 289 |
+
476.1031799316406,
|
| 290 |
+
248.2669219970703
|
| 291 |
+
],
|
| 292 |
+
[
|
| 293 |
+
469.94061279296875,
|
| 294 |
+
247.63290405273438
|
| 295 |
+
],
|
| 296 |
+
[
|
| 297 |
+
462.903076171875,
|
| 298 |
+
243.66433715820312
|
| 299 |
+
],
|
| 300 |
+
[
|
| 301 |
+
462.959228515625,
|
| 302 |
+
250.2524871826172
|
| 303 |
+
],
|
| 304 |
+
[
|
| 305 |
+
456.7277526855469,
|
| 306 |
+
241.2535400390625
|
| 307 |
+
],
|
| 308 |
+
[
|
| 309 |
+
439.2533264160156,
|
| 310 |
+
240.32064819335938
|
| 311 |
+
],
|
| 312 |
+
[
|
| 313 |
+
449.5165710449219,
|
| 314 |
+
213.25271606445312
|
| 315 |
+
],
|
| 316 |
+
[
|
| 317 |
+
451.18609619140625,
|
| 318 |
+
206.329833984375
|
| 319 |
+
],
|
| 320 |
+
[
|
| 321 |
+
446.1531982421875,
|
| 322 |
+
191.07199096679688
|
| 323 |
+
],
|
| 324 |
+
[
|
| 325 |
+
453.2687072753906,
|
| 326 |
+
162.18206787109375
|
| 327 |
+
],
|
| 328 |
+
[
|
| 329 |
+
467.202392578125,
|
| 330 |
+
119.69367218017578
|
| 331 |
+
]
|
| 332 |
+
],
|
| 333 |
+
"depth_max": 1.337262511253357,
|
| 334 |
+
"depth_min": 0.10753162950277328,
|
| 335 |
+
"intrinsic": [
|
| 336 |
+
[
|
| 337 |
+
539.0164184570312,
|
| 338 |
+
0.0,
|
| 339 |
+
259.0
|
| 340 |
+
],
|
| 341 |
+
[
|
| 342 |
+
0.0,
|
| 343 |
+
539.324951171875,
|
| 344 |
+
196.0
|
| 345 |
+
],
|
| 346 |
+
[
|
| 347 |
+
0.0,
|
| 348 |
+
0.0,
|
| 349 |
+
1.0
|
| 350 |
+
]
|
| 351 |
+
],
|
| 352 |
+
"extrinsic": [
|
| 353 |
+
[
|
| 354 |
+
1.0,
|
| 355 |
+
8.306330710183829e-05,
|
| 356 |
+
-5.7971192291006446e-05,
|
| 357 |
+
-3.144211950711906e-05
|
| 358 |
+
],
|
| 359 |
+
[
|
| 360 |
+
-8.306633390020579e-05,
|
| 361 |
+
1.0,
|
| 362 |
+
-5.2277868235250935e-05,
|
| 363 |
+
-2.5244215066777542e-05
|
| 364 |
+
],
|
| 365 |
+
[
|
| 366 |
+
5.796684854431078e-05,
|
| 367 |
+
5.2282684919191524e-05,
|
| 368 |
+
1.0,
|
| 369 |
+
-1.5338213415816426e-05
|
| 370 |
+
]
|
| 371 |
+
],
|
| 372 |
+
"selected_indexes": [
|
| 373 |
+
0,
|
| 374 |
+
3,
|
| 375 |
+
6,
|
| 376 |
+
9,
|
| 377 |
+
12,
|
| 378 |
+
15,
|
| 379 |
+
18,
|
| 380 |
+
22
|
| 381 |
+
],
|
| 382 |
+
"object_trajectory": [
|
| 383 |
+
[
|
| 384 |
+
452.0,
|
| 385 |
+
305.5
|
| 386 |
+
],
|
| 387 |
+
[
|
| 388 |
+
452.1168212890625,
|
| 389 |
+
305.8782958984375
|
| 390 |
+
],
|
| 391 |
+
[
|
| 392 |
+
452.16131591796875,
|
| 393 |
+
305.8454284667969
|
| 394 |
+
],
|
| 395 |
+
[
|
| 396 |
+
452.0678405761719,
|
| 397 |
+
305.8778381347656
|
| 398 |
+
],
|
| 399 |
+
[
|
| 400 |
+
452.0732421875,
|
| 401 |
+
305.8349609375
|
| 402 |
+
],
|
| 403 |
+
[
|
| 404 |
+
452.0652770996094,
|
| 405 |
+
305.818115234375
|
| 406 |
+
],
|
| 407 |
+
[
|
| 408 |
+
452.111083984375,
|
| 409 |
+
305.8212890625
|
| 410 |
+
],
|
| 411 |
+
[
|
| 412 |
+
452.1940002441406,
|
| 413 |
+
305.8369140625
|
| 414 |
+
],
|
| 415 |
+
[
|
| 416 |
+
452.18975830078125,
|
| 417 |
+
305.75
|
| 418 |
+
],
|
| 419 |
+
[
|
| 420 |
+
452.16455078125,
|
| 421 |
+
305.8352966308594
|
| 422 |
+
],
|
| 423 |
+
[
|
| 424 |
+
452.0843505859375,
|
| 425 |
+
305.7872009277344
|
| 426 |
+
],
|
| 427 |
+
[
|
| 428 |
+
452.10552978515625,
|
| 429 |
+
305.8137512207031
|
| 430 |
+
],
|
| 431 |
+
[
|
| 432 |
+
452.2485046386719,
|
| 433 |
+
305.6201171875
|
| 434 |
+
],
|
| 435 |
+
[
|
| 436 |
+
452.3163146972656,
|
| 437 |
+
305.8584289550781
|
| 438 |
+
],
|
| 439 |
+
[
|
| 440 |
+
452.81329345703125,
|
| 441 |
+
305.8813171386719
|
| 442 |
+
],
|
| 443 |
+
[
|
| 444 |
+
453.08831787109375,
|
| 445 |
+
305.9960632324219
|
| 446 |
+
],
|
| 447 |
+
[
|
| 448 |
+
453.0903015136719,
|
| 449 |
+
305.41754150390625
|
| 450 |
+
],
|
| 451 |
+
[
|
| 452 |
+
451.06207275390625,
|
| 453 |
+
305.7689208984375
|
| 454 |
+
],
|
| 455 |
+
[
|
| 456 |
+
451.8177795410156,
|
| 457 |
+
299.5588073730469
|
| 458 |
+
],
|
| 459 |
+
[
|
| 460 |
+
453.0244140625,
|
| 461 |
+
295.955322265625
|
| 462 |
+
],
|
| 463 |
+
[
|
| 464 |
+
453.900390625,
|
| 465 |
+
290.66217041015625
|
| 466 |
+
],
|
| 467 |
+
[
|
| 468 |
+
451.93768310546875,
|
| 469 |
+
279.54296875
|
| 470 |
+
],
|
| 471 |
+
[
|
| 472 |
+
470.9066162109375,
|
| 473 |
+
263.406005859375
|
| 474 |
+
]
|
| 475 |
+
]
|
| 476 |
+
}
|
000267/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
pick up any cup
|
000285/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Object bbox detection failed
|
000308/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Inconsistant moving trajectory between gripper and object
|
000309/data.json
ADDED
|
@@ -0,0 +1,476 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_start": 12,
|
| 3 |
+
"action_end": 21,
|
| 4 |
+
"object_name": "cup",
|
| 5 |
+
"gripper_opens": [
|
| 6 |
+
1.0,
|
| 7 |
+
1.0,
|
| 8 |
+
1.0,
|
| 9 |
+
1.0,
|
| 10 |
+
1.0,
|
| 11 |
+
1.0,
|
| 12 |
+
1.0,
|
| 13 |
+
1.0,
|
| 14 |
+
1.0,
|
| 15 |
+
1.0,
|
| 16 |
+
1.0,
|
| 17 |
+
1.0,
|
| 18 |
+
0.245421,
|
| 19 |
+
0.0,
|
| 20 |
+
0.0,
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
0.0,
|
| 24 |
+
0.0,
|
| 25 |
+
0.0,
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
"gripper_actions": [
|
| 31 |
+
[
|
| 32 |
+
-2.0620874452426108e-10,
|
| 33 |
+
1.8834089843267066e-10,
|
| 34 |
+
-5.181648166097119e-11,
|
| 35 |
+
-3.830449578987114e-07,
|
| 36 |
+
-2.555932411242912e-07,
|
| 37 |
+
-3.770817180793183e-07,
|
| 38 |
+
1.0
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
3.0498379671228815e-05,
|
| 42 |
+
0.005317302154288439,
|
| 43 |
+
-0.00778101633929934,
|
| 44 |
+
0.07366978784147535,
|
| 45 |
+
0.027456920233922197,
|
| 46 |
+
-0.2564313860221366,
|
| 47 |
+
1.0
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
0.00020145075869049123,
|
| 51 |
+
0.0033215662874678947,
|
| 52 |
+
-0.01172707527649064,
|
| 53 |
+
0.026010570005326774,
|
| 54 |
+
-0.0039959922693940985,
|
| 55 |
+
-0.12980541150078959,
|
| 56 |
+
1.0
|
| 57 |
+
],
|
| 58 |
+
[
|
| 59 |
+
-0.0035565424269001777,
|
| 60 |
+
0.00415976006769285,
|
| 61 |
+
-0.012385015839973743,
|
| 62 |
+
-0.0012741147506743506,
|
| 63 |
+
0.030770360847894283,
|
| 64 |
+
-0.08478039756967252,
|
| 65 |
+
1.0
|
| 66 |
+
],
|
| 67 |
+
[
|
| 68 |
+
-0.004264761212416701,
|
| 69 |
+
0.0028859618043590995,
|
| 70 |
+
-0.02061985172071798,
|
| 71 |
+
0.002398669675442827,
|
| 72 |
+
-0.015040661780058891,
|
| 73 |
+
-0.03534851295723699,
|
| 74 |
+
1.0
|
| 75 |
+
],
|
| 76 |
+
[
|
| 77 |
+
-0.0017958196361097523,
|
| 78 |
+
0.0021472140672662565,
|
| 79 |
+
-0.0164152035567146,
|
| 80 |
+
0.015333288973532063,
|
| 81 |
+
-0.0010038415541886202,
|
| 82 |
+
-0.01170679910841938,
|
| 83 |
+
1.0
|
| 84 |
+
],
|
| 85 |
+
[
|
| 86 |
+
-0.00028225477089996454,
|
| 87 |
+
0.005096969957702174,
|
| 88 |
+
-0.017288704759988005,
|
| 89 |
+
0.02063908889612445,
|
| 90 |
+
-0.015928461715391126,
|
| 91 |
+
-0.011123957131466203,
|
| 92 |
+
1.0
|
| 93 |
+
],
|
| 94 |
+
[
|
| 95 |
+
-0.0004155366613736722,
|
| 96 |
+
0.008598840742749567,
|
| 97 |
+
-0.019410377749169934,
|
| 98 |
+
0.031662409186497174,
|
| 99 |
+
-0.012465867792382441,
|
| 100 |
+
-0.01580766388640161,
|
| 101 |
+
1.0
|
| 102 |
+
],
|
| 103 |
+
[
|
| 104 |
+
-0.004277444925997187,
|
| 105 |
+
0.006538085535995608,
|
| 106 |
+
-0.019171743814909773,
|
| 107 |
+
0.016116890204750132,
|
| 108 |
+
-0.0038631262726829684,
|
| 109 |
+
-0.00890159443614521,
|
| 110 |
+
1.0
|
| 111 |
+
],
|
| 112 |
+
[
|
| 113 |
+
-0.005971745513989185,
|
| 114 |
+
-0.0021562528279505944,
|
| 115 |
+
-0.021645892078936288,
|
| 116 |
+
0.008780906219782171,
|
| 117 |
+
0.029434615259793538,
|
| 118 |
+
0.0007830164622522939,
|
| 119 |
+
1.0
|
| 120 |
+
],
|
| 121 |
+
[
|
| 122 |
+
-0.0020845943956650514,
|
| 123 |
+
-0.0022975234226789987,
|
| 124 |
+
-0.022819375746109406,
|
| 125 |
+
0.008430577165830917,
|
| 126 |
+
0.0011777872726891066,
|
| 127 |
+
0.004056166470525894,
|
| 128 |
+
1.0
|
| 129 |
+
],
|
| 130 |
+
[
|
| 131 |
+
0.0034668294163612,
|
| 132 |
+
-0.001242417167966331,
|
| 133 |
+
-0.01203703272682223,
|
| 134 |
+
0.011043539573216736,
|
| 135 |
+
-0.03879296089243062,
|
| 136 |
+
0.01741625769170911,
|
| 137 |
+
1.0
|
| 138 |
+
],
|
| 139 |
+
[
|
| 140 |
+
0.007023713537623266,
|
| 141 |
+
0.003811885187838121,
|
| 142 |
+
-0.005046040900728896,
|
| 143 |
+
0.002433351871971632,
|
| 144 |
+
-0.002075188657957831,
|
| 145 |
+
0.011351894221652562,
|
| 146 |
+
0.245421
|
| 147 |
+
],
|
| 148 |
+
[
|
| 149 |
+
0.0032683181511596326,
|
| 150 |
+
0.0001418975173820558,
|
| 151 |
+
0.0011271942294786702,
|
| 152 |
+
-0.007105491712276552,
|
| 153 |
+
0.004142838233611459,
|
| 154 |
+
0.003556384529570896,
|
| 155 |
+
0.0
|
| 156 |
+
],
|
| 157 |
+
[
|
| 158 |
+
-0.0006492492628411561,
|
| 159 |
+
0.0020164178058995064,
|
| 160 |
+
0.0035358764897474443,
|
| 161 |
+
-0.013223615409613287,
|
| 162 |
+
0.0004458563550040079,
|
| 163 |
+
-0.0052218292784352825,
|
| 164 |
+
0.0
|
| 165 |
+
],
|
| 166 |
+
[
|
| 167 |
+
-0.0026330869080551933,
|
| 168 |
+
-5.504016104071474e-05,
|
| 169 |
+
0.007828643656136489,
|
| 170 |
+
-0.02201186160991846,
|
| 171 |
+
-0.0016917216440239917,
|
| 172 |
+
-0.00991020577969548,
|
| 173 |
+
0.0
|
| 174 |
+
],
|
| 175 |
+
[
|
| 176 |
+
0.002599112336150816,
|
| 177 |
+
-0.0014498546821822833,
|
| 178 |
+
0.016101048417993855,
|
| 179 |
+
-0.034564093963035,
|
| 180 |
+
0.0002714521509203653,
|
| 181 |
+
-0.0009090961480450924,
|
| 182 |
+
0.0
|
| 183 |
+
],
|
| 184 |
+
[
|
| 185 |
+
0.0012020936130635318,
|
| 186 |
+
-0.004557290780579509,
|
| 187 |
+
0.026086165859282848,
|
| 188 |
+
-0.04186984432735014,
|
| 189 |
+
-0.0014984928056719366,
|
| 190 |
+
0.0025650010979132633,
|
| 191 |
+
0.0
|
| 192 |
+
],
|
| 193 |
+
[
|
| 194 |
+
0.009376905502830907,
|
| 195 |
+
-0.007577743931530323,
|
| 196 |
+
0.03204502251845448,
|
| 197 |
+
-0.03353080460810668,
|
| 198 |
+
-0.018322274701909586,
|
| 199 |
+
0.012896671596848625,
|
| 200 |
+
0.0
|
| 201 |
+
],
|
| 202 |
+
[
|
| 203 |
+
0.0053455281109776875,
|
| 204 |
+
-0.0033551500640641996,
|
| 205 |
+
0.027164826033083615,
|
| 206 |
+
-0.007750920790701449,
|
| 207 |
+
-0.0014067567276170366,
|
| 208 |
+
0.015782463766516215,
|
| 209 |
+
0.0
|
| 210 |
+
],
|
| 211 |
+
[
|
| 212 |
+
0.0024392933007923445,
|
| 213 |
+
-0.007514931574770095,
|
| 214 |
+
0.03344515480430554,
|
| 215 |
+
0.0014402741082965862,
|
| 216 |
+
0.02216669587306546,
|
| 217 |
+
0.023164191693234255,
|
| 218 |
+
0.0
|
| 219 |
+
],
|
| 220 |
+
[
|
| 221 |
+
-0.003336076472048699,
|
| 222 |
+
-0.0029637397671710974,
|
| 223 |
+
0.01820791687381742,
|
| 224 |
+
0.025119606580651793,
|
| 225 |
+
0.007368090301609469,
|
| 226 |
+
0.00827274145495436,
|
| 227 |
+
0.0
|
| 228 |
+
],
|
| 229 |
+
[
|
| 230 |
+
-0.0058594780034373906,
|
| 231 |
+
-0.00033162506896679267,
|
| 232 |
+
0.006922729660549173,
|
| 233 |
+
0.030874628503051144,
|
| 234 |
+
0.021880637953808634,
|
| 235 |
+
-0.017672255628411366,
|
| 236 |
+
0.0
|
| 237 |
+
]
|
| 238 |
+
],
|
| 239 |
+
"gripper_centers": [
|
| 240 |
+
[
|
| 241 |
+
156.88143920898438,
|
| 242 |
+
111.66374206542969
|
| 243 |
+
],
|
| 244 |
+
[
|
| 245 |
+
156.72482299804688,
|
| 246 |
+
118.7835693359375
|
| 247 |
+
],
|
| 248 |
+
[
|
| 249 |
+
148.2213134765625,
|
| 250 |
+
126.43081665039062
|
| 251 |
+
],
|
| 252 |
+
[
|
| 253 |
+
150.2949981689453,
|
| 254 |
+
148.6700897216797
|
| 255 |
+
],
|
| 256 |
+
[
|
| 257 |
+
149.43983459472656,
|
| 258 |
+
161.82302856445312
|
| 259 |
+
],
|
| 260 |
+
[
|
| 261 |
+
148.56967163085938,
|
| 262 |
+
185.32888793945312
|
| 263 |
+
],
|
| 264 |
+
[
|
| 265 |
+
149.09385681152344,
|
| 266 |
+
202.23748779296875
|
| 267 |
+
],
|
| 268 |
+
[
|
| 269 |
+
151.68511962890625,
|
| 270 |
+
216.84661865234375
|
| 271 |
+
],
|
| 272 |
+
[
|
| 273 |
+
149.9207763671875,
|
| 274 |
+
232.305908203125
|
| 275 |
+
],
|
| 276 |
+
[
|
| 277 |
+
146.94577026367188,
|
| 278 |
+
249.33197021484375
|
| 279 |
+
],
|
| 280 |
+
[
|
| 281 |
+
145.38427734375,
|
| 282 |
+
269.76507568359375
|
| 283 |
+
],
|
| 284 |
+
[
|
| 285 |
+
149.77288818359375,
|
| 286 |
+
287.14190673828125
|
| 287 |
+
],
|
| 288 |
+
[
|
| 289 |
+
155.0583953857422,
|
| 290 |
+
296.0334167480469
|
| 291 |
+
],
|
| 292 |
+
[
|
| 293 |
+
156.11639404296875,
|
| 294 |
+
289.98809814453125
|
| 295 |
+
],
|
| 296 |
+
[
|
| 297 |
+
155.45651245117188,
|
| 298 |
+
290.0879821777344
|
| 299 |
+
],
|
| 300 |
+
[
|
| 301 |
+
154.832763671875,
|
| 302 |
+
286.851318359375
|
| 303 |
+
],
|
| 304 |
+
[
|
| 305 |
+
152.25660705566406,
|
| 306 |
+
290.8901672363281
|
| 307 |
+
],
|
| 308 |
+
[
|
| 309 |
+
147.9400634765625,
|
| 310 |
+
286.81988525390625
|
| 311 |
+
],
|
| 312 |
+
[
|
| 313 |
+
146.86172485351562,
|
| 314 |
+
269.11334228515625
|
| 315 |
+
],
|
| 316 |
+
[
|
| 317 |
+
148.28970336914062,
|
| 318 |
+
248.50164794921875
|
| 319 |
+
],
|
| 320 |
+
[
|
| 321 |
+
148.91690063476562,
|
| 322 |
+
226.52928161621094
|
| 323 |
+
],
|
| 324 |
+
[
|
| 325 |
+
149.73556518554688,
|
| 326 |
+
201.27438354492188
|
| 327 |
+
],
|
| 328 |
+
[
|
| 329 |
+
152.09280395507812,
|
| 330 |
+
186.57679748535156
|
| 331 |
+
]
|
| 332 |
+
],
|
| 333 |
+
"depth_max": 1.7702001333236694,
|
| 334 |
+
"depth_min": 0.455380916595459,
|
| 335 |
+
"intrinsic": [
|
| 336 |
+
[
|
| 337 |
+
547.3086547851562,
|
| 338 |
+
0.0,
|
| 339 |
+
259.0
|
| 340 |
+
],
|
| 341 |
+
[
|
| 342 |
+
0.0,
|
| 343 |
+
546.9721069335938,
|
| 344 |
+
196.0
|
| 345 |
+
],
|
| 346 |
+
[
|
| 347 |
+
0.0,
|
| 348 |
+
0.0,
|
| 349 |
+
1.0
|
| 350 |
+
]
|
| 351 |
+
],
|
| 352 |
+
"extrinsic": [
|
| 353 |
+
[
|
| 354 |
+
1.0,
|
| 355 |
+
8.2764498074539e-05,
|
| 356 |
+
-1.090028672479093e-05,
|
| 357 |
+
1.1551966053957585e-05
|
| 358 |
+
],
|
| 359 |
+
[
|
| 360 |
+
-8.276489097625017e-05,
|
| 361 |
+
1.0,
|
| 362 |
+
-3.6485806049313396e-05,
|
| 363 |
+
-1.532203532406129e-05
|
| 364 |
+
],
|
| 365 |
+
[
|
| 366 |
+
1.0897267202381045e-05,
|
| 367 |
+
3.6486708268057555e-05,
|
| 368 |
+
1.0,
|
| 369 |
+
-7.208625902421772e-05
|
| 370 |
+
]
|
| 371 |
+
],
|
| 372 |
+
"selected_indexes": [
|
| 373 |
+
0,
|
| 374 |
+
3,
|
| 375 |
+
6,
|
| 376 |
+
9,
|
| 377 |
+
12,
|
| 378 |
+
15,
|
| 379 |
+
18,
|
| 380 |
+
22
|
| 381 |
+
],
|
| 382 |
+
"object_trajectory": [
|
| 383 |
+
[
|
| 384 |
+
160.0,
|
| 385 |
+
332.2500305175781
|
| 386 |
+
],
|
| 387 |
+
[
|
| 388 |
+
160.54345703125,
|
| 389 |
+
332.5774841308594
|
| 390 |
+
],
|
| 391 |
+
[
|
| 392 |
+
160.4007110595703,
|
| 393 |
+
332.63177490234375
|
| 394 |
+
],
|
| 395 |
+
[
|
| 396 |
+
160.3926544189453,
|
| 397 |
+
332.61163330078125
|
| 398 |
+
],
|
| 399 |
+
[
|
| 400 |
+
160.52960205078125,
|
| 401 |
+
332.29833984375
|
| 402 |
+
],
|
| 403 |
+
[
|
| 404 |
+
160.29306030273438,
|
| 405 |
+
332.40203857421875
|
| 406 |
+
],
|
| 407 |
+
[
|
| 408 |
+
160.32400512695312,
|
| 409 |
+
332.4946594238281
|
| 410 |
+
],
|
| 411 |
+
[
|
| 412 |
+
160.65533447265625,
|
| 413 |
+
332.576416015625
|
| 414 |
+
],
|
| 415 |
+
[
|
| 416 |
+
160.37039184570312,
|
| 417 |
+
332.536376953125
|
| 418 |
+
],
|
| 419 |
+
[
|
| 420 |
+
160.26502990722656,
|
| 421 |
+
332.5610656738281
|
| 422 |
+
],
|
| 423 |
+
[
|
| 424 |
+
160.17767333984375,
|
| 425 |
+
332.513671875
|
| 426 |
+
],
|
| 427 |
+
[
|
| 428 |
+
160.40948486328125,
|
| 429 |
+
332.7873229980469
|
| 430 |
+
],
|
| 431 |
+
[
|
| 432 |
+
160.70887756347656,
|
| 433 |
+
332.7113952636719
|
| 434 |
+
],
|
| 435 |
+
[
|
| 436 |
+
160.5624237060547,
|
| 437 |
+
334.118408203125
|
| 438 |
+
],
|
| 439 |
+
[
|
| 440 |
+
161.8912811279297,
|
| 441 |
+
334.06915283203125
|
| 442 |
+
],
|
| 443 |
+
[
|
| 444 |
+
165.41732788085938,
|
| 445 |
+
329.7492370605469
|
| 446 |
+
],
|
| 447 |
+
[
|
| 448 |
+
161.46401977539062,
|
| 449 |
+
329.8161926269531
|
| 450 |
+
],
|
| 451 |
+
[
|
| 452 |
+
155.04510498046875,
|
| 453 |
+
321.58770751953125
|
| 454 |
+
],
|
| 455 |
+
[
|
| 456 |
+
154.7238311767578,
|
| 457 |
+
295.7992248535156
|
| 458 |
+
],
|
| 459 |
+
[
|
| 460 |
+
157.57522583007812,
|
| 461 |
+
272.10943603515625
|
| 462 |
+
],
|
| 463 |
+
[
|
| 464 |
+
156.9527587890625,
|
| 465 |
+
241.07998657226562
|
| 466 |
+
],
|
| 467 |
+
[
|
| 468 |
+
153.33155822753906,
|
| 469 |
+
204.1829833984375
|
| 470 |
+
],
|
| 471 |
+
[
|
| 472 |
+
159.44931030273438,
|
| 473 |
+
185.18142700195312
|
| 474 |
+
]
|
| 475 |
+
]
|
| 476 |
+
}
|
000309/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
pick up any cup
|
000321_v2/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Object mask too small
|
000325/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Inconsistant moving trajectory between gripper and object
|
000377/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Object mask too small
|
000393/data.json
ADDED
|
@@ -0,0 +1,531 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_start": 15,
|
| 3 |
+
"action_end": 24,
|
| 4 |
+
"object_name": "green mug",
|
| 5 |
+
"gripper_opens": [
|
| 6 |
+
1.0,
|
| 7 |
+
1.0,
|
| 8 |
+
1.0,
|
| 9 |
+
1.0,
|
| 10 |
+
1.0,
|
| 11 |
+
1.0,
|
| 12 |
+
1.0,
|
| 13 |
+
1.0,
|
| 14 |
+
1.0,
|
| 15 |
+
1.0,
|
| 16 |
+
1.0,
|
| 17 |
+
1.0,
|
| 18 |
+
1.0,
|
| 19 |
+
1.0,
|
| 20 |
+
1.0,
|
| 21 |
+
0.969963,
|
| 22 |
+
0.0,
|
| 23 |
+
0.0,
|
| 24 |
+
0.0,
|
| 25 |
+
0.0,
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0,
|
| 29 |
+
0.0,
|
| 30 |
+
0.0,
|
| 31 |
+
0.0
|
| 32 |
+
],
|
| 33 |
+
"gripper_actions": [
|
| 34 |
+
[
|
| 35 |
+
0.0,
|
| 36 |
+
2.7755575615628914e-17,
|
| 37 |
+
0.0,
|
| 38 |
+
-8.454941976123867e-07,
|
| 39 |
+
-4.434465115439035e-07,
|
| 40 |
+
-3.5719960770356498e-09,
|
| 41 |
+
1.0
|
| 42 |
+
],
|
| 43 |
+
[
|
| 44 |
+
-0.011650182170207135,
|
| 45 |
+
-0.027858974649971918,
|
| 46 |
+
0.004047865440643526,
|
| 47 |
+
-0.027695159321845072,
|
| 48 |
+
0.07020277859389445,
|
| 49 |
+
-0.039558351918402755,
|
| 50 |
+
1.0
|
| 51 |
+
],
|
| 52 |
+
[
|
| 53 |
+
-0.017898141125645806,
|
| 54 |
+
-0.03156599479598697,
|
| 55 |
+
0.005639795273748478,
|
| 56 |
+
-0.024645095400761107,
|
| 57 |
+
0.013751456836051145,
|
| 58 |
+
-0.10586788039075329,
|
| 59 |
+
1.0
|
| 60 |
+
],
|
| 61 |
+
[
|
| 62 |
+
-0.006568623168500154,
|
| 63 |
+
-0.036041703221196944,
|
| 64 |
+
0.002188178166849783,
|
| 65 |
+
-0.0445198123397595,
|
| 66 |
+
0.005326558455707549,
|
| 67 |
+
-0.10674743568283952,
|
| 68 |
+
1.0
|
| 69 |
+
],
|
| 70 |
+
[
|
| 71 |
+
-0.0015530168911568332,
|
| 72 |
+
-0.03192282830531387,
|
| 73 |
+
-0.01360607482611624,
|
| 74 |
+
-0.029848202513228794,
|
| 75 |
+
0.01652833070629164,
|
| 76 |
+
-0.0011603501555190266,
|
| 77 |
+
1.0
|
| 78 |
+
],
|
| 79 |
+
[
|
| 80 |
+
0.0030146717584442206,
|
| 81 |
+
-0.022080005260420074,
|
| 82 |
+
-0.016824635443280556,
|
| 83 |
+
0.020807251906147753,
|
| 84 |
+
0.013699433659339216,
|
| 85 |
+
0.04816069063162745,
|
| 86 |
+
1.0
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
0.007758859345109448,
|
| 90 |
+
-0.01770422899170876,
|
| 91 |
+
-0.015089317038552333,
|
| 92 |
+
0.015864743791935476,
|
| 93 |
+
-0.013691730721122824,
|
| 94 |
+
0.05100075234376726,
|
| 95 |
+
1.0
|
| 96 |
+
],
|
| 97 |
+
[
|
| 98 |
+
0.005862546238497912,
|
| 99 |
+
-0.013358367870900615,
|
| 100 |
+
-0.021516789449618268,
|
| 101 |
+
-0.0052868416062328534,
|
| 102 |
+
0.02427223568163554,
|
| 103 |
+
0.04263321996863007,
|
| 104 |
+
1.0
|
| 105 |
+
],
|
| 106 |
+
[
|
| 107 |
+
-0.010128251510480357,
|
| 108 |
+
-0.007639390639748338,
|
| 109 |
+
-0.01273688867231524,
|
| 110 |
+
-0.033073705162105144,
|
| 111 |
+
0.016740268219247494,
|
| 112 |
+
0.03684252573497232,
|
| 113 |
+
1.0
|
| 114 |
+
],
|
| 115 |
+
[
|
| 116 |
+
-0.012243183703748106,
|
| 117 |
+
-0.006296731389517411,
|
| 118 |
+
-0.015808227995038563,
|
| 119 |
+
-0.0001037312374482567,
|
| 120 |
+
0.012790084288951868,
|
| 121 |
+
0.009123834466055449,
|
| 122 |
+
1.0
|
| 123 |
+
],
|
| 124 |
+
[
|
| 125 |
+
-0.012594268256981622,
|
| 126 |
+
-0.007026312576452882,
|
| 127 |
+
-0.009594254243336875,
|
| 128 |
+
0.013606352031023474,
|
| 129 |
+
0.008836904246862936,
|
| 130 |
+
-0.012396924548761427,
|
| 131 |
+
1.0
|
| 132 |
+
],
|
| 133 |
+
[
|
| 134 |
+
-0.007771165539364411,
|
| 135 |
+
-0.006657144328341861,
|
| 136 |
+
-0.009934171001357203,
|
| 137 |
+
0.023633457403420956,
|
| 138 |
+
-0.0017866567313096103,
|
| 139 |
+
0.0018824081430899799,
|
| 140 |
+
1.0
|
| 141 |
+
],
|
| 142 |
+
[
|
| 143 |
+
-0.005930221278394099,
|
| 144 |
+
-0.011690426730396705,
|
| 145 |
+
-0.006525850422865808,
|
| 146 |
+
0.021037201608812447,
|
| 147 |
+
0.01367396488211387,
|
| 148 |
+
-0.0014071951034966435,
|
| 149 |
+
1.0
|
| 150 |
+
],
|
| 151 |
+
[
|
| 152 |
+
0.0014940128439492328,
|
| 153 |
+
-0.0012298799175649855,
|
| 154 |
+
-0.015587386023187124,
|
| 155 |
+
0.029975346988162652,
|
| 156 |
+
-0.02422093775612534,
|
| 157 |
+
0.003945348781234491,
|
| 158 |
+
1.0
|
| 159 |
+
],
|
| 160 |
+
[
|
| 161 |
+
-0.0003592721108388597,
|
| 162 |
+
-0.00575635012290221,
|
| 163 |
+
-0.013854295679078477,
|
| 164 |
+
0.01628349019102508,
|
| 165 |
+
-0.03001636169740801,
|
| 166 |
+
0.0012597815904264028,
|
| 167 |
+
1.0
|
| 168 |
+
],
|
| 169 |
+
[
|
| 170 |
+
-0.0024064351231641856,
|
| 171 |
+
-0.0011806486407732533,
|
| 172 |
+
-0.0016742607909884383,
|
| 173 |
+
0.002877721727477478,
|
| 174 |
+
-0.00913424952060581,
|
| 175 |
+
-0.00038034949526082637,
|
| 176 |
+
0.969963
|
| 177 |
+
],
|
| 178 |
+
[
|
| 179 |
+
-0.0002692935499229998,
|
| 180 |
+
0.00040992827749181115,
|
| 181 |
+
-0.00048356668359288146,
|
| 182 |
+
0.020541947102057766,
|
| 183 |
+
0.010386753529889953,
|
| 184 |
+
0.02018035598649721,
|
| 185 |
+
0.0
|
| 186 |
+
],
|
| 187 |
+
[
|
| 188 |
+
3.833073529582731e-05,
|
| 189 |
+
0.0007691815312895547,
|
| 190 |
+
0.00048667557366074976,
|
| 191 |
+
0.01408261941204249,
|
| 192 |
+
-0.0038144282221273832,
|
| 193 |
+
0.004682141067500498,
|
| 194 |
+
0.0
|
| 195 |
+
],
|
| 196 |
+
[
|
| 197 |
+
0.00040674796373074695,
|
| 198 |
+
0.0004302505888762881,
|
| 199 |
+
0.00021554906144291563,
|
| 200 |
+
0.006564118113472312,
|
| 201 |
+
-0.01322645626544032,
|
| 202 |
+
0.00961141924159743,
|
| 203 |
+
0.0
|
| 204 |
+
],
|
| 205 |
+
[
|
| 206 |
+
5.676161069800845e-05,
|
| 207 |
+
0.0002553880827914773,
|
| 208 |
+
0.00015330131457322316,
|
| 209 |
+
0.002898490081467583,
|
| 210 |
+
-0.004240254713060523,
|
| 211 |
+
0.006690656615839904,
|
| 212 |
+
0.0
|
| 213 |
+
],
|
| 214 |
+
[
|
| 215 |
+
0.004252030167341131,
|
| 216 |
+
-0.0025686370917765433,
|
| 217 |
+
7.520530698677114e-05,
|
| 218 |
+
-0.04116420727110976,
|
| 219 |
+
-0.07919860560817381,
|
| 220 |
+
-0.0047134805275770965,
|
| 221 |
+
0.0
|
| 222 |
+
],
|
| 223 |
+
[
|
| 224 |
+
-0.0015728294499058881,
|
| 225 |
+
0.0023583793131132028,
|
| 226 |
+
0.056707675100022344,
|
| 227 |
+
-0.035397514181211606,
|
| 228 |
+
-0.03636485956448627,
|
| 229 |
+
-0.0011004487915144505,
|
| 230 |
+
0.0
|
| 231 |
+
],
|
| 232 |
+
[
|
| 233 |
+
0.001779368597289388,
|
| 234 |
+
0.004097762351096823,
|
| 235 |
+
0.04698385963568097,
|
| 236 |
+
0.02367071360495344,
|
| 237 |
+
-0.029727979855569166,
|
| 238 |
+
-0.04579300488658647,
|
| 239 |
+
0.0
|
| 240 |
+
],
|
| 241 |
+
[
|
| 242 |
+
0.00285796753891987,
|
| 243 |
+
0.004317171612372134,
|
| 244 |
+
0.03691183620220838,
|
| 245 |
+
0.022661582650032586,
|
| 246 |
+
-0.03842414470603806,
|
| 247 |
+
-0.005241096020533714,
|
| 248 |
+
0.0
|
| 249 |
+
],
|
| 250 |
+
[
|
| 251 |
+
-0.0045311546484368415,
|
| 252 |
+
0.0042467809331487374,
|
| 253 |
+
0.0351644279828173,
|
| 254 |
+
0.011790826317210805,
|
| 255 |
+
0.015622241675255798,
|
| 256 |
+
-0.009344848847350812,
|
| 257 |
+
0.0
|
| 258 |
+
],
|
| 259 |
+
[
|
| 260 |
+
-0.004058180656686783,
|
| 261 |
+
0.002271548713088746,
|
| 262 |
+
0.031550792928035476,
|
| 263 |
+
-0.014591903107072634,
|
| 264 |
+
0.030306649291482576,
|
| 265 |
+
-0.034440656796393194,
|
| 266 |
+
0.0
|
| 267 |
+
]
|
| 268 |
+
],
|
| 269 |
+
"gripper_centers": [
|
| 270 |
+
[
|
| 271 |
+
182.91281127929688,
|
| 272 |
+
74.46146392822266
|
| 273 |
+
],
|
| 274 |
+
[
|
| 275 |
+
184.88189697265625,
|
| 276 |
+
87.4854736328125
|
| 277 |
+
],
|
| 278 |
+
[
|
| 279 |
+
188.46192932128906,
|
| 280 |
+
114.29905700683594
|
| 281 |
+
],
|
| 282 |
+
[
|
| 283 |
+
217.81748962402344,
|
| 284 |
+
124.8014907836914
|
| 285 |
+
],
|
| 286 |
+
[
|
| 287 |
+
255.7266845703125,
|
| 288 |
+
139.06820678710938
|
| 289 |
+
],
|
| 290 |
+
[
|
| 291 |
+
278.87286376953125,
|
| 292 |
+
163.33221435546875
|
| 293 |
+
],
|
| 294 |
+
[
|
| 295 |
+
323.7876281738281,
|
| 296 |
+
182.37734985351562
|
| 297 |
+
],
|
| 298 |
+
[
|
| 299 |
+
356.1493835449219,
|
| 300 |
+
206.17044067382812
|
| 301 |
+
],
|
| 302 |
+
[
|
| 303 |
+
369.9154968261719,
|
| 304 |
+
234.18446350097656
|
| 305 |
+
],
|
| 306 |
+
[
|
| 307 |
+
372.50665283203125,
|
| 308 |
+
253.013671875
|
| 309 |
+
],
|
| 310 |
+
[
|
| 311 |
+
367.291748046875,
|
| 312 |
+
280.71636962890625
|
| 313 |
+
],
|
| 314 |
+
[
|
| 315 |
+
371.7147216796875,
|
| 316 |
+
306.28424072265625
|
| 317 |
+
],
|
| 318 |
+
[
|
| 319 |
+
375.6637268066406,
|
| 320 |
+
323.60491943359375
|
| 321 |
+
],
|
| 322 |
+
[
|
| 323 |
+
382.5968017578125,
|
| 324 |
+
339.4024353027344
|
| 325 |
+
],
|
| 326 |
+
[
|
| 327 |
+
388.20758056640625,
|
| 328 |
+
354.2678527832031
|
| 329 |
+
],
|
| 330 |
+
[
|
| 331 |
+
388.37152099609375,
|
| 332 |
+
363.5600891113281
|
| 333 |
+
],
|
| 334 |
+
[
|
| 335 |
+
389.2646179199219,
|
| 336 |
+
367.0836181640625
|
| 337 |
+
],
|
| 338 |
+
[
|
| 339 |
+
382.9682312011719,
|
| 340 |
+
364.40509033203125
|
| 341 |
+
],
|
| 342 |
+
[
|
| 343 |
+
379.07879638671875,
|
| 344 |
+
363.6083068847656
|
| 345 |
+
],
|
| 346 |
+
[
|
| 347 |
+
382.8083801269531,
|
| 348 |
+
368.33856201171875
|
| 349 |
+
],
|
| 350 |
+
[
|
| 351 |
+
388.0318603515625,
|
| 352 |
+
373.7471618652344
|
| 353 |
+
],
|
| 354 |
+
[
|
| 355 |
+
386.81201171875,
|
| 356 |
+
379.47296142578125
|
| 357 |
+
],
|
| 358 |
+
[
|
| 359 |
+
383.9473876953125,
|
| 360 |
+
360.1939392089844
|
| 361 |
+
],
|
| 362 |
+
[
|
| 363 |
+
414.48724365234375,
|
| 364 |
+
320.4749450683594
|
| 365 |
+
],
|
| 366 |
+
[
|
| 367 |
+
375.8355712890625,
|
| 368 |
+
268.889404296875
|
| 369 |
+
],
|
| 370 |
+
[
|
| 371 |
+
375.2354736328125,
|
| 372 |
+
220.4488525390625
|
| 373 |
+
]
|
| 374 |
+
],
|
| 375 |
+
"depth_max": 1.5137804746627808,
|
| 376 |
+
"depth_min": 0.48376360535621643,
|
| 377 |
+
"intrinsic": [
|
| 378 |
+
[
|
| 379 |
+
658.2119140625,
|
| 380 |
+
0.0,
|
| 381 |
+
259.0
|
| 382 |
+
],
|
| 383 |
+
[
|
| 384 |
+
0.0,
|
| 385 |
+
657.4711303710938,
|
| 386 |
+
196.0
|
| 387 |
+
],
|
| 388 |
+
[
|
| 389 |
+
0.0,
|
| 390 |
+
0.0,
|
| 391 |
+
1.0
|
| 392 |
+
]
|
| 393 |
+
],
|
| 394 |
+
"extrinsic": [
|
| 395 |
+
[
|
| 396 |
+
1.0,
|
| 397 |
+
8.884883573045954e-05,
|
| 398 |
+
1.797990444174502e-05,
|
| 399 |
+
2.8602312340808567e-06
|
| 400 |
+
],
|
| 401 |
+
[
|
| 402 |
+
-8.884892304195091e-05,
|
| 403 |
+
1.0,
|
| 404 |
+
5.189165676711127e-06,
|
| 405 |
+
-1.4842324162600562e-05
|
| 406 |
+
],
|
| 407 |
+
[
|
| 408 |
+
-1.797944241843652e-05,
|
| 409 |
+
-5.1907627494074404e-06,
|
| 410 |
+
1.0,
|
| 411 |
+
-6.952299736440182e-05
|
| 412 |
+
]
|
| 413 |
+
],
|
| 414 |
+
"selected_indexes": [
|
| 415 |
+
0,
|
| 416 |
+
3,
|
| 417 |
+
6,
|
| 418 |
+
9,
|
| 419 |
+
12,
|
| 420 |
+
15,
|
| 421 |
+
18,
|
| 422 |
+
21,
|
| 423 |
+
25
|
| 424 |
+
],
|
| 425 |
+
"object_trajectory": [
|
| 426 |
+
[
|
| 427 |
+
357.0,
|
| 428 |
+
364.5000305175781
|
| 429 |
+
],
|
| 430 |
+
[
|
| 431 |
+
357.2442626953125,
|
| 432 |
+
364.8187255859375
|
| 433 |
+
],
|
| 434 |
+
[
|
| 435 |
+
357.3097839355469,
|
| 436 |
+
365.0127258300781
|
| 437 |
+
],
|
| 438 |
+
[
|
| 439 |
+
356.74224853515625,
|
| 440 |
+
364.86688232421875
|
| 441 |
+
],
|
| 442 |
+
[
|
| 443 |
+
356.8908386230469,
|
| 444 |
+
364.7560729980469
|
| 445 |
+
],
|
| 446 |
+
[
|
| 447 |
+
357.55926513671875,
|
| 448 |
+
364.97088623046875
|
| 449 |
+
],
|
| 450 |
+
[
|
| 451 |
+
356.927978515625,
|
| 452 |
+
364.8443603515625
|
| 453 |
+
],
|
| 454 |
+
[
|
| 455 |
+
357.01776123046875,
|
| 456 |
+
364.6770324707031
|
| 457 |
+
],
|
| 458 |
+
[
|
| 459 |
+
357.40789794921875,
|
| 460 |
+
364.63671875
|
| 461 |
+
],
|
| 462 |
+
[
|
| 463 |
+
357.1174621582031,
|
| 464 |
+
364.75665283203125
|
| 465 |
+
],
|
| 466 |
+
[
|
| 467 |
+
356.9439392089844,
|
| 468 |
+
364.8146667480469
|
| 469 |
+
],
|
| 470 |
+
[
|
| 471 |
+
357.0711975097656,
|
| 472 |
+
364.8764953613281
|
| 473 |
+
],
|
| 474 |
+
[
|
| 475 |
+
356.8525390625,
|
| 476 |
+
364.6846618652344
|
| 477 |
+
],
|
| 478 |
+
[
|
| 479 |
+
357.01251220703125,
|
| 480 |
+
364.688232421875
|
| 481 |
+
],
|
| 482 |
+
[
|
| 483 |
+
356.7254943847656,
|
| 484 |
+
364.8245544433594
|
| 485 |
+
],
|
| 486 |
+
[
|
| 487 |
+
343.8580627441406,
|
| 488 |
+
361.61431884765625
|
| 489 |
+
],
|
| 490 |
+
[
|
| 491 |
+
341.9807434082031,
|
| 492 |
+
363.06939697265625
|
| 493 |
+
],
|
| 494 |
+
[
|
| 495 |
+
337.8140869140625,
|
| 496 |
+
366.2352600097656
|
| 497 |
+
],
|
| 498 |
+
[
|
| 499 |
+
335.6993103027344,
|
| 500 |
+
373.984375
|
| 501 |
+
],
|
| 502 |
+
[
|
| 503 |
+
340.0928039550781,
|
| 504 |
+
382.50921630859375
|
| 505 |
+
],
|
| 506 |
+
[
|
| 507 |
+
343.49334716796875,
|
| 508 |
+
386.3494873046875
|
| 509 |
+
],
|
| 510 |
+
[
|
| 511 |
+
342.31610107421875,
|
| 512 |
+
392.03033447265625
|
| 513 |
+
],
|
| 514 |
+
[
|
| 515 |
+
333.0077819824219,
|
| 516 |
+
376.4214782714844
|
| 517 |
+
],
|
| 518 |
+
[
|
| 519 |
+
329.884521484375,
|
| 520 |
+
326.5032653808594
|
| 521 |
+
],
|
| 522 |
+
[
|
| 523 |
+
323.94085693359375,
|
| 524 |
+
299.7488708496094
|
| 525 |
+
],
|
| 526 |
+
[
|
| 527 |
+
319.5732421875,
|
| 528 |
+
255.51527404785156
|
| 529 |
+
]
|
| 530 |
+
]
|
| 531 |
+
}
|
000393/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
pick up green mug
|
000394/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Inconsistant moving trajectory between gripper and object
|
000434/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Inconsistant moving trajectory between gripper and object
|
000448/data.json
ADDED
|
@@ -0,0 +1,531 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_start": 11,
|
| 3 |
+
"action_end": 19,
|
| 4 |
+
"object_name": "banana",
|
| 5 |
+
"gripper_opens": [
|
| 6 |
+
1.0,
|
| 7 |
+
1.0,
|
| 8 |
+
1.0,
|
| 9 |
+
1.0,
|
| 10 |
+
1.0,
|
| 11 |
+
1.0,
|
| 12 |
+
1.0,
|
| 13 |
+
1.0,
|
| 14 |
+
1.0,
|
| 15 |
+
1.0,
|
| 16 |
+
1.0,
|
| 17 |
+
0.559219,
|
| 18 |
+
0.0,
|
| 19 |
+
0.0,
|
| 20 |
+
0.0,
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
0.0,
|
| 24 |
+
0.0,
|
| 25 |
+
0.928694,
|
| 26 |
+
1.0,
|
| 27 |
+
1.0,
|
| 28 |
+
1.0,
|
| 29 |
+
1.0,
|
| 30 |
+
1.0,
|
| 31 |
+
1.0
|
| 32 |
+
],
|
| 33 |
+
"gripper_actions": [
|
| 34 |
+
[
|
| 35 |
+
-2.504305651740424e-10,
|
| 36 |
+
-9.97732174656818e-11,
|
| 37 |
+
9.502591769017243e-11,
|
| 38 |
+
-4.031902420385851e-07,
|
| 39 |
+
-9.501874472178803e-08,
|
| 40 |
+
2.3852186126814884e-07,
|
| 41 |
+
1.0
|
| 42 |
+
],
|
| 43 |
+
[
|
| 44 |
+
0.0009374594101460021,
|
| 45 |
+
-0.042020001301056785,
|
| 46 |
+
-0.0156922969579662,
|
| 47 |
+
-0.005131025475252449,
|
| 48 |
+
0.020073244611533158,
|
| 49 |
+
-0.33814806079186005,
|
| 50 |
+
1.0
|
| 51 |
+
],
|
| 52 |
+
[
|
| 53 |
+
-0.0003671173087822499,
|
| 54 |
+
-0.04365257224314309,
|
| 55 |
+
-0.0127571752425749,
|
| 56 |
+
-0.029015930490199317,
|
| 57 |
+
-0.02447944483784243,
|
| 58 |
+
-0.31080942390617244,
|
| 59 |
+
1.0
|
| 60 |
+
],
|
| 61 |
+
[
|
| 62 |
+
-0.01169339190855706,
|
| 63 |
+
-0.047664588620188415,
|
| 64 |
+
-0.003302129039272919,
|
| 65 |
+
-0.019569226749854132,
|
| 66 |
+
-0.03443292947274381,
|
| 67 |
+
-0.25903147584320646,
|
| 68 |
+
1.0
|
| 69 |
+
],
|
| 70 |
+
[
|
| 71 |
+
-0.008386371669424103,
|
| 72 |
+
-0.032655786715442676,
|
| 73 |
+
-0.004760382444521399,
|
| 74 |
+
-0.010747840387454945,
|
| 75 |
+
0.013565394537811937,
|
| 76 |
+
-0.11605478125628776,
|
| 77 |
+
1.0
|
| 78 |
+
],
|
| 79 |
+
[
|
| 80 |
+
-0.003246648467114699,
|
| 81 |
+
-0.022436058883959095,
|
| 82 |
+
-0.011424843510133273,
|
| 83 |
+
0.04423293181605136,
|
| 84 |
+
0.0008019744690342566,
|
| 85 |
+
-0.02024194153564526,
|
| 86 |
+
1.0
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
-0.0025412021950831643,
|
| 90 |
+
-0.006468685936279306,
|
| 91 |
+
-0.013855836371450839,
|
| 92 |
+
0.04601101522467219,
|
| 93 |
+
0.005737695895443328,
|
| 94 |
+
-0.01368899955501558,
|
| 95 |
+
1.0
|
| 96 |
+
],
|
| 97 |
+
[
|
| 98 |
+
-0.004492802322957623,
|
| 99 |
+
-0.004173923360174359,
|
| 100 |
+
-0.016682292485539263,
|
| 101 |
+
-0.07214584922968395,
|
| 102 |
+
0.003203380109966368,
|
| 103 |
+
-0.029774861971747377,
|
| 104 |
+
1.0
|
| 105 |
+
],
|
| 106 |
+
[
|
| 107 |
+
0.004013635870238508,
|
| 108 |
+
0.0008071122410042708,
|
| 109 |
+
-0.004973189187067004,
|
| 110 |
+
0.05121883767838169,
|
| 111 |
+
-0.03250671504469588,
|
| 112 |
+
0.013040353903330087,
|
| 113 |
+
1.0
|
| 114 |
+
],
|
| 115 |
+
[
|
| 116 |
+
0.010685231570413373,
|
| 117 |
+
0.007001415794645041,
|
| 118 |
+
-0.010387531400193328,
|
| 119 |
+
0.02093601966833923,
|
| 120 |
+
-0.012844213084868192,
|
| 121 |
+
0.03665187439578793,
|
| 122 |
+
1.0
|
| 123 |
+
],
|
| 124 |
+
[
|
| 125 |
+
0.0017902955646479646,
|
| 126 |
+
0.0003281777085521326,
|
| 127 |
+
-0.014620156710411145,
|
| 128 |
+
0.05738513885836622,
|
| 129 |
+
-0.03254716734424088,
|
| 130 |
+
0.03642895179923261,
|
| 131 |
+
1.0
|
| 132 |
+
],
|
| 133 |
+
[
|
| 134 |
+
-0.0002972643890334914,
|
| 135 |
+
0.0015642535844869465,
|
| 136 |
+
0.0003740537693646107,
|
| 137 |
+
0.002115545187537666,
|
| 138 |
+
0.03661343149207613,
|
| 139 |
+
0.009995183079676605,
|
| 140 |
+
0.559219
|
| 141 |
+
],
|
| 142 |
+
[
|
| 143 |
+
0.006340712084526107,
|
| 144 |
+
0.004783440946006065,
|
| 145 |
+
0.010562121928955337,
|
| 146 |
+
-0.01906890340110537,
|
| 147 |
+
-0.038601405276298,
|
| 148 |
+
0.09417266478716962,
|
| 149 |
+
0.0
|
| 150 |
+
],
|
| 151 |
+
[
|
| 152 |
+
0.007092477142286835,
|
| 153 |
+
0.001071516426681171,
|
| 154 |
+
0.03239771492270707,
|
| 155 |
+
-0.0782175001006235,
|
| 156 |
+
-0.012669351820849854,
|
| 157 |
+
0.0738212656662193,
|
| 158 |
+
0.0
|
| 159 |
+
],
|
| 160 |
+
[
|
| 161 |
+
0.016575316451649724,
|
| 162 |
+
0.005033787415066465,
|
| 163 |
+
0.036574365008377865,
|
| 164 |
+
-0.0863810542184662,
|
| 165 |
+
0.018159534517336068,
|
| 166 |
+
0.06949335774550576,
|
| 167 |
+
0.0
|
| 168 |
+
],
|
| 169 |
+
[
|
| 170 |
+
0.02906386438225625,
|
| 171 |
+
0.017106440190850683,
|
| 172 |
+
0.015593493522190527,
|
| 173 |
+
0.005353964824966238,
|
| 174 |
+
-0.054196052648080764,
|
| 175 |
+
0.13476504184344332,
|
| 176 |
+
0.0
|
| 177 |
+
],
|
| 178 |
+
[
|
| 179 |
+
0.025796721805702527,
|
| 180 |
+
0.023347102573646278,
|
| 181 |
+
-0.004594767161939697,
|
| 182 |
+
0.024647928538957475,
|
| 183 |
+
0.0019738423845950303,
|
| 184 |
+
0.10983273091452557,
|
| 185 |
+
0.0
|
| 186 |
+
],
|
| 187 |
+
[
|
| 188 |
+
0.004490771118278003,
|
| 189 |
+
0.02256905932817309,
|
| 190 |
+
-0.005607218865632535,
|
| 191 |
+
0.0027689314748229454,
|
| 192 |
+
0.021739165682565807,
|
| 193 |
+
0.05699720551914778,
|
| 194 |
+
0.0
|
| 195 |
+
],
|
| 196 |
+
[
|
| 197 |
+
-0.000742196130341044,
|
| 198 |
+
0.01679863957447706,
|
| 199 |
+
-0.015047886258381715,
|
| 200 |
+
0.036649956847425766,
|
| 201 |
+
0.02095460455133009,
|
| 202 |
+
0.01886895805181049,
|
| 203 |
+
0.0
|
| 204 |
+
],
|
| 205 |
+
[
|
| 206 |
+
0.0005122602673865995,
|
| 207 |
+
0.01144144188982376,
|
| 208 |
+
-0.006196638417465178,
|
| 209 |
+
0.029399541211612968,
|
| 210 |
+
0.011423568418678367,
|
| 211 |
+
0.02131791781999937,
|
| 212 |
+
0.928694
|
| 213 |
+
],
|
| 214 |
+
[
|
| 215 |
+
0.011806285207659972,
|
| 216 |
+
0.007743499045219746,
|
| 217 |
+
-0.0030410193502693403,
|
| 218 |
+
-0.006674421457003634,
|
| 219 |
+
0.028402786091621682,
|
| 220 |
+
0.04564489846294461,
|
| 221 |
+
1.0
|
| 222 |
+
],
|
| 223 |
+
[
|
| 224 |
+
0.007306403193791944,
|
| 225 |
+
0.0012635780918831456,
|
| 226 |
+
0.0032145491139858734,
|
| 227 |
+
0.005069266125864664,
|
| 228 |
+
-0.0003981423904989849,
|
| 229 |
+
0.0022870047106890523,
|
| 230 |
+
1.0
|
| 231 |
+
],
|
| 232 |
+
[
|
| 233 |
+
0.003334206676662399,
|
| 234 |
+
-0.0007096817200527561,
|
| 235 |
+
0.010609965699332168,
|
| 236 |
+
-0.010149729297539236,
|
| 237 |
+
-0.022364443798336974,
|
| 238 |
+
-0.011076496378128207,
|
| 239 |
+
1.0
|
| 240 |
+
],
|
| 241 |
+
[
|
| 242 |
+
0.0,
|
| 243 |
+
0.0,
|
| 244 |
+
0.0,
|
| 245 |
+
0.0,
|
| 246 |
+
0.0,
|
| 247 |
+
0.0,
|
| 248 |
+
1.0
|
| 249 |
+
],
|
| 250 |
+
[
|
| 251 |
+
0.0,
|
| 252 |
+
0.0,
|
| 253 |
+
0.0,
|
| 254 |
+
0.0,
|
| 255 |
+
0.0,
|
| 256 |
+
0.0,
|
| 257 |
+
1.0
|
| 258 |
+
],
|
| 259 |
+
[
|
| 260 |
+
0.0,
|
| 261 |
+
0.0,
|
| 262 |
+
0.0,
|
| 263 |
+
0.0,
|
| 264 |
+
0.0,
|
| 265 |
+
0.0,
|
| 266 |
+
1.0
|
| 267 |
+
]
|
| 268 |
+
],
|
| 269 |
+
"gripper_centers": [
|
| 270 |
+
[
|
| 271 |
+
180.52906799316406,
|
| 272 |
+
122.42350769042969
|
| 273 |
+
],
|
| 274 |
+
[
|
| 275 |
+
180.68734741210938,
|
| 276 |
+
127.09571838378906
|
| 277 |
+
],
|
| 278 |
+
[
|
| 279 |
+
213.92401123046875,
|
| 280 |
+
158.30673217773438
|
| 281 |
+
],
|
| 282 |
+
[
|
| 283 |
+
301.4306640625,
|
| 284 |
+
216.95150756835938
|
| 285 |
+
],
|
| 286 |
+
[
|
| 287 |
+
331.99139404296875,
|
| 288 |
+
254.72625732421875
|
| 289 |
+
],
|
| 290 |
+
[
|
| 291 |
+
405.1343688964844,
|
| 292 |
+
300.0880126953125
|
| 293 |
+
],
|
| 294 |
+
[
|
| 295 |
+
417.45416259765625,
|
| 296 |
+
322.9942626953125
|
| 297 |
+
],
|
| 298 |
+
[
|
| 299 |
+
451.9706115722656,
|
| 300 |
+
366.9869384765625
|
| 301 |
+
],
|
| 302 |
+
[
|
| 303 |
+
442.4828186035156,
|
| 304 |
+
387.8299255371094
|
| 305 |
+
],
|
| 306 |
+
[
|
| 307 |
+
436.0789794921875,
|
| 308 |
+
380.0423583984375
|
| 309 |
+
],
|
| 310 |
+
[
|
| 311 |
+
432.9150390625,
|
| 312 |
+
386.79742431640625
|
| 313 |
+
],
|
| 314 |
+
[
|
| 315 |
+
426.0977478027344,
|
| 316 |
+
379.92156982421875
|
| 317 |
+
],
|
| 318 |
+
[
|
| 319 |
+
428.9842529296875,
|
| 320 |
+
385.0386962890625
|
| 321 |
+
],
|
| 322 |
+
[
|
| 323 |
+
422.6837158203125,
|
| 324 |
+
385.1719665527344
|
| 325 |
+
],
|
| 326 |
+
[
|
| 327 |
+
426.039794921875,
|
| 328 |
+
357.7161560058594
|
| 329 |
+
],
|
| 330 |
+
[
|
| 331 |
+
440.1573486328125,
|
| 332 |
+
287.31134033203125
|
| 333 |
+
],
|
| 334 |
+
[
|
| 335 |
+
431.61468505859375,
|
| 336 |
+
217.7639923095703
|
| 337 |
+
],
|
| 338 |
+
[
|
| 339 |
+
417.62652587890625,
|
| 340 |
+
186.351806640625
|
| 341 |
+
],
|
| 342 |
+
[
|
| 343 |
+
388.56011962890625,
|
| 344 |
+
171.3526611328125
|
| 345 |
+
],
|
| 346 |
+
[
|
| 347 |
+
352.3315734863281,
|
| 348 |
+
166.84117126464844
|
| 349 |
+
],
|
| 350 |
+
[
|
| 351 |
+
339.992431640625,
|
| 352 |
+
169.77940368652344
|
| 353 |
+
],
|
| 354 |
+
[
|
| 355 |
+
341.2286071777344,
|
| 356 |
+
177.64193725585938
|
| 357 |
+
],
|
| 358 |
+
[
|
| 359 |
+
341.0076904296875,
|
| 360 |
+
164.3076934814453
|
| 361 |
+
],
|
| 362 |
+
[
|
| 363 |
+
343.9583740234375,
|
| 364 |
+
156.66021728515625
|
| 365 |
+
],
|
| 366 |
+
[
|
| 367 |
+
344.71820068359375,
|
| 368 |
+
156.48191833496094
|
| 369 |
+
],
|
| 370 |
+
[
|
| 371 |
+
344.7459411621094,
|
| 372 |
+
156.71900939941406
|
| 373 |
+
]
|
| 374 |
+
],
|
| 375 |
+
"depth_max": 1.5163758993148804,
|
| 376 |
+
"depth_min": 0.0700656920671463,
|
| 377 |
+
"intrinsic": [
|
| 378 |
+
[
|
| 379 |
+
533.124267578125,
|
| 380 |
+
0.0,
|
| 381 |
+
259.0
|
| 382 |
+
],
|
| 383 |
+
[
|
| 384 |
+
0.0,
|
| 385 |
+
532.7704467773438,
|
| 386 |
+
196.0
|
| 387 |
+
],
|
| 388 |
+
[
|
| 389 |
+
0.0,
|
| 390 |
+
0.0,
|
| 391 |
+
1.0
|
| 392 |
+
]
|
| 393 |
+
],
|
| 394 |
+
"extrinsic": [
|
| 395 |
+
[
|
| 396 |
+
1.0,
|
| 397 |
+
2.9069578886264935e-05,
|
| 398 |
+
-9.150122059509158e-05,
|
| 399 |
+
5.2369119657669216e-05
|
| 400 |
+
],
|
| 401 |
+
[
|
| 402 |
+
-2.9069200536468998e-05,
|
| 403 |
+
1.0,
|
| 404 |
+
4.14390342484694e-06,
|
| 405 |
+
-6.198257324285805e-05
|
| 406 |
+
],
|
| 407 |
+
[
|
| 408 |
+
9.150133701041341e-05,
|
| 409 |
+
-4.141243607591605e-06,
|
| 410 |
+
1.0,
|
| 411 |
+
-1.5193289073067717e-05
|
| 412 |
+
]
|
| 413 |
+
],
|
| 414 |
+
"selected_indexes": [
|
| 415 |
+
0,
|
| 416 |
+
3,
|
| 417 |
+
6,
|
| 418 |
+
9,
|
| 419 |
+
12,
|
| 420 |
+
15,
|
| 421 |
+
18,
|
| 422 |
+
21,
|
| 423 |
+
25
|
| 424 |
+
],
|
| 425 |
+
"object_trajectory": [
|
| 426 |
+
[
|
| 427 |
+
425.0,
|
| 428 |
+
372.7500305175781
|
| 429 |
+
],
|
| 430 |
+
[
|
| 431 |
+
425.57440185546875,
|
| 432 |
+
372.9464111328125
|
| 433 |
+
],
|
| 434 |
+
[
|
| 435 |
+
429.4291076660156,
|
| 436 |
+
376.8446960449219
|
| 437 |
+
],
|
| 438 |
+
[
|
| 439 |
+
431.8223876953125,
|
| 440 |
+
377.28912353515625
|
| 441 |
+
],
|
| 442 |
+
[
|
| 443 |
+
433.73687744140625,
|
| 444 |
+
377.52178955078125
|
| 445 |
+
],
|
| 446 |
+
[
|
| 447 |
+
433.8677673339844,
|
| 448 |
+
377.4333801269531
|
| 449 |
+
],
|
| 450 |
+
[
|
| 451 |
+
430.0496826171875,
|
| 452 |
+
376.64208984375
|
| 453 |
+
],
|
| 454 |
+
[
|
| 455 |
+
416.8697509765625,
|
| 456 |
+
373.5322265625
|
| 457 |
+
],
|
| 458 |
+
[
|
| 459 |
+
411.5041198730469,
|
| 460 |
+
378.0019226074219
|
| 461 |
+
],
|
| 462 |
+
[
|
| 463 |
+
413.57098388671875,
|
| 464 |
+
380.3387145996094
|
| 465 |
+
],
|
| 466 |
+
[
|
| 467 |
+
412.5456237792969,
|
| 468 |
+
381.22906494140625
|
| 469 |
+
],
|
| 470 |
+
[
|
| 471 |
+
413.19775390625,
|
| 472 |
+
381.377685546875
|
| 473 |
+
],
|
| 474 |
+
[
|
| 475 |
+
422.1260986328125,
|
| 476 |
+
388.88482666015625
|
| 477 |
+
],
|
| 478 |
+
[
|
| 479 |
+
414.801513671875,
|
| 480 |
+
389.4946594238281
|
| 481 |
+
],
|
| 482 |
+
[
|
| 483 |
+
416.9118957519531,
|
| 484 |
+
364.1542663574219
|
| 485 |
+
],
|
| 486 |
+
[
|
| 487 |
+
428.4688415527344,
|
| 488 |
+
315.75323486328125
|
| 489 |
+
],
|
| 490 |
+
[
|
| 491 |
+
427.86669921875,
|
| 492 |
+
263.77349853515625
|
| 493 |
+
],
|
| 494 |
+
[
|
| 495 |
+
418.4890441894531,
|
| 496 |
+
233.7980194091797
|
| 497 |
+
],
|
| 498 |
+
[
|
| 499 |
+
405.2179870605469,
|
| 500 |
+
223.83160400390625
|
| 501 |
+
],
|
| 502 |
+
[
|
| 503 |
+
394.341552734375,
|
| 504 |
+
223.17062377929688
|
| 505 |
+
],
|
| 506 |
+
[
|
| 507 |
+
388.87164306640625,
|
| 508 |
+
220.64317321777344
|
| 509 |
+
],
|
| 510 |
+
[
|
| 511 |
+
392.57037353515625,
|
| 512 |
+
234.13040161132812
|
| 513 |
+
],
|
| 514 |
+
[
|
| 515 |
+
397.4072265625,
|
| 516 |
+
226.53826904296875
|
| 517 |
+
],
|
| 518 |
+
[
|
| 519 |
+
398.4054870605469,
|
| 520 |
+
227.64337158203125
|
| 521 |
+
],
|
| 522 |
+
[
|
| 523 |
+
398.31903076171875,
|
| 524 |
+
227.8599090576172
|
| 525 |
+
],
|
| 526 |
+
[
|
| 527 |
+
399.00372314453125,
|
| 528 |
+
227.6144561767578
|
| 529 |
+
]
|
| 530 |
+
]
|
| 531 |
+
}
|
000448/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
put banana in colander
|
000448/object.ply
ADDED
|
Binary file (70.5 kB). View file
|
|
|
000472/data.json
ADDED
|
@@ -0,0 +1,549 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_start": 11,
|
| 3 |
+
"action_end": 19,
|
| 4 |
+
"object_name": "banana",
|
| 5 |
+
"gripper_opens": [
|
| 6 |
+
1.0,
|
| 7 |
+
1.0,
|
| 8 |
+
1.0,
|
| 9 |
+
1.0,
|
| 10 |
+
1.0,
|
| 11 |
+
1.0,
|
| 12 |
+
1.0,
|
| 13 |
+
1.0,
|
| 14 |
+
1.0,
|
| 15 |
+
1.0,
|
| 16 |
+
1.0,
|
| 17 |
+
0.26275899999999996,
|
| 18 |
+
0.0,
|
| 19 |
+
0.0,
|
| 20 |
+
0.0,
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
0.0,
|
| 24 |
+
0.0,
|
| 25 |
+
0.0,
|
| 26 |
+
1.0,
|
| 27 |
+
1.0,
|
| 28 |
+
1.0,
|
| 29 |
+
1.0,
|
| 30 |
+
1.0,
|
| 31 |
+
1.0,
|
| 32 |
+
1.0
|
| 33 |
+
],
|
| 34 |
+
"gripper_actions": [
|
| 35 |
+
[
|
| 36 |
+
-5.211411857608539e-10,
|
| 37 |
+
-1.930991894161238e-10,
|
| 38 |
+
-3.730486336506189e-10,
|
| 39 |
+
3.446726290304224e-07,
|
| 40 |
+
1.7639973997116468e-08,
|
| 41 |
+
2.346326563037516e-07,
|
| 42 |
+
1.0
|
| 43 |
+
],
|
| 44 |
+
[
|
| 45 |
+
-0.003924161470068133,
|
| 46 |
+
0.01629137179443077,
|
| 47 |
+
0.0006310823641839658,
|
| 48 |
+
-0.013398781794953393,
|
| 49 |
+
0.008746790283960885,
|
| 50 |
+
-0.2571942761076728,
|
| 51 |
+
1.0
|
| 52 |
+
],
|
| 53 |
+
[
|
| 54 |
+
-0.0090417184552114,
|
| 55 |
+
0.020393667832482393,
|
| 56 |
+
0.0023622123801824574,
|
| 57 |
+
0.03784212751315716,
|
| 58 |
+
0.006524940229148863,
|
| 59 |
+
-0.41458768140921215,
|
| 60 |
+
1.0
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.011983967274397767,
|
| 64 |
+
0.023041450545486813,
|
| 65 |
+
-0.007481241788336042,
|
| 66 |
+
0.041938912689248736,
|
| 67 |
+
0.0620831747613318,
|
| 68 |
+
-0.5266579859556436,
|
| 69 |
+
1.0
|
| 70 |
+
],
|
| 71 |
+
[
|
| 72 |
+
-0.009460745524405012,
|
| 73 |
+
0.026708542247460915,
|
| 74 |
+
-0.0038004690660441987,
|
| 75 |
+
0.004174639887037907,
|
| 76 |
+
0.04377170116004745,
|
| 77 |
+
-0.5227967737507665,
|
| 78 |
+
1.0
|
| 79 |
+
],
|
| 80 |
+
[
|
| 81 |
+
-0.019696850541189415,
|
| 82 |
+
0.033357936748849,
|
| 83 |
+
-0.004454051246848251,
|
| 84 |
+
0.01825648802566271,
|
| 85 |
+
0.006415604936747865,
|
| 86 |
+
-0.4739734097190714,
|
| 87 |
+
1.0
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
-0.011070555685150973,
|
| 91 |
+
0.022646382227373613,
|
| 92 |
+
-0.010106599046263237,
|
| 93 |
+
-0.0017688301164056745,
|
| 94 |
+
0.010320508492361448,
|
| 95 |
+
-0.3192568030662859,
|
| 96 |
+
1.0
|
| 97 |
+
],
|
| 98 |
+
[
|
| 99 |
+
-0.007252301497950642,
|
| 100 |
+
0.015815308050548746,
|
| 101 |
+
-0.01634761979868765,
|
| 102 |
+
0.05417461104260094,
|
| 103 |
+
-0.010184103583857705,
|
| 104 |
+
-0.10340776572999254,
|
| 105 |
+
1.0
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.00534639254665209,
|
| 109 |
+
0.005291265858230934,
|
| 110 |
+
-0.022289528180396784,
|
| 111 |
+
0.019104149720969552,
|
| 112 |
+
-0.05712796617503656,
|
| 113 |
+
-0.007250438088614561,
|
| 114 |
+
1.0
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0011156352337122755,
|
| 118 |
+
-0.0007643789205323132,
|
| 119 |
+
-0.01901436293273128,
|
| 120 |
+
-0.01135730517584411,
|
| 121 |
+
0.004106089681985742,
|
| 122 |
+
0.01323896386856642,
|
| 123 |
+
1.0
|
| 124 |
+
],
|
| 125 |
+
[
|
| 126 |
+
-0.0035690536284244123,
|
| 127 |
+
0.0032210449259832963,
|
| 128 |
+
-0.002795315021407667,
|
| 129 |
+
-0.00428447186213414,
|
| 130 |
+
0.026954436518944816,
|
| 131 |
+
0.00570588145181202,
|
| 132 |
+
1.0
|
| 133 |
+
],
|
| 134 |
+
[
|
| 135 |
+
-0.0038162854782370914,
|
| 136 |
+
-0.00014428888277072394,
|
| 137 |
+
-0.0028400295886206704,
|
| 138 |
+
0.017368382090021967,
|
| 139 |
+
0.0041575117616513045,
|
| 140 |
+
0.0020983989384459425,
|
| 141 |
+
0.26275899999999996
|
| 142 |
+
],
|
| 143 |
+
[
|
| 144 |
+
0.0001123006090298917,
|
| 145 |
+
-0.003146893291662775,
|
| 146 |
+
0.0014379179083070567,
|
| 147 |
+
-0.00134280330623714,
|
| 148 |
+
0.00573278204571425,
|
| 149 |
+
0.026155482044176934,
|
| 150 |
+
0.0
|
| 151 |
+
],
|
| 152 |
+
[
|
| 153 |
+
0.008149505165424342,
|
| 154 |
+
-0.010789171563161642,
|
| 155 |
+
0.007286477858559043,
|
| 156 |
+
-0.000965429276810268,
|
| 157 |
+
-0.0016410883279034914,
|
| 158 |
+
0.0811220217756626,
|
| 159 |
+
0.0
|
| 160 |
+
],
|
| 161 |
+
[
|
| 162 |
+
0.010394162065526735,
|
| 163 |
+
-0.02428700595762215,
|
| 164 |
+
0.025634249721221393,
|
| 165 |
+
-0.03511036831817252,
|
| 166 |
+
-0.02278185772155877,
|
| 167 |
+
0.11765617499184211,
|
| 168 |
+
0.0
|
| 169 |
+
],
|
| 170 |
+
[
|
| 171 |
+
0.02516351573745912,
|
| 172 |
+
-0.03130283463683639,
|
| 173 |
+
0.033590806206342264,
|
| 174 |
+
-0.08394748848383704,
|
| 175 |
+
-0.035290860943966,
|
| 176 |
+
0.19634979174055667,
|
| 177 |
+
0.0
|
| 178 |
+
],
|
| 179 |
+
[
|
| 180 |
+
0.022423786711551874,
|
| 181 |
+
-0.0243896590222384,
|
| 182 |
+
0.022541395769441967,
|
| 183 |
+
-0.06849345986301987,
|
| 184 |
+
-0.034356218162319166,
|
| 185 |
+
0.08513647666870505,
|
| 186 |
+
0.0
|
| 187 |
+
],
|
| 188 |
+
[
|
| 189 |
+
0.024627787145515334,
|
| 190 |
+
-0.017543641103165905,
|
| 191 |
+
0.0013946574011358681,
|
| 192 |
+
-0.015223426810422698,
|
| 193 |
+
0.004152862918609191,
|
| 194 |
+
0.08239281032783632,
|
| 195 |
+
0.0
|
| 196 |
+
],
|
| 197 |
+
[
|
| 198 |
+
0.017328621361737073,
|
| 199 |
+
0.0002861964952097021,
|
| 200 |
+
-0.011712476137777247,
|
| 201 |
+
0.0379516739526024,
|
| 202 |
+
0.027767345712859264,
|
| 203 |
+
0.0638097479654444,
|
| 204 |
+
0.0
|
| 205 |
+
],
|
| 206 |
+
[
|
| 207 |
+
0.0045150094633489846,
|
| 208 |
+
0.0035119446814053656,
|
| 209 |
+
-0.006995344720036184,
|
| 210 |
+
0.032766545090466524,
|
| 211 |
+
-0.004126924829539252,
|
| 212 |
+
0.015448886857018188,
|
| 213 |
+
0.0
|
| 214 |
+
],
|
| 215 |
+
[
|
| 216 |
+
0.005256739136124566,
|
| 217 |
+
0.0013809175244765722,
|
| 218 |
+
0.0020497800713836917,
|
| 219 |
+
-0.02022291681566452,
|
| 220 |
+
0.044587592670061835,
|
| 221 |
+
0.04168129064249111,
|
| 222 |
+
1.0
|
| 223 |
+
],
|
| 224 |
+
[
|
| 225 |
+
-0.0010608218010384474,
|
| 226 |
+
0.00035189365171105734,
|
| 227 |
+
0.007459399648225201,
|
| 228 |
+
-0.033236413645400156,
|
| 229 |
+
-0.030579509150092773,
|
| 230 |
+
-0.006927763078452258,
|
| 231 |
+
1.0
|
| 232 |
+
],
|
| 233 |
+
[
|
| 234 |
+
-0.0020879371534408553,
|
| 235 |
+
-0.0020052326826209936,
|
| 236 |
+
0.008988076977392997,
|
| 237 |
+
-0.014144878319769894,
|
| 238 |
+
-0.04578822943459749,
|
| 239 |
+
0.021908543439888052,
|
| 240 |
+
1.0
|
| 241 |
+
],
|
| 242 |
+
[
|
| 243 |
+
-0.017502188953726516,
|
| 244 |
+
-0.015494107117049478,
|
| 245 |
+
0.02271718591827293,
|
| 246 |
+
-0.07716558411452201,
|
| 247 |
+
-0.005364918756793255,
|
| 248 |
+
-0.055916550134966214,
|
| 249 |
+
1.0
|
| 250 |
+
],
|
| 251 |
+
[
|
| 252 |
+
-0.021573576862272237,
|
| 253 |
+
-0.011913340817480364,
|
| 254 |
+
0.01015317637409939,
|
| 255 |
+
-0.011333969404826397,
|
| 256 |
+
0.0257538196276738,
|
| 257 |
+
-0.06239966608582087,
|
| 258 |
+
1.0
|
| 259 |
+
],
|
| 260 |
+
[
|
| 261 |
+
0.0,
|
| 262 |
+
0.0,
|
| 263 |
+
0.0,
|
| 264 |
+
0.0,
|
| 265 |
+
0.0,
|
| 266 |
+
0.0,
|
| 267 |
+
1.0
|
| 268 |
+
],
|
| 269 |
+
[
|
| 270 |
+
0.0,
|
| 271 |
+
0.0,
|
| 272 |
+
0.0,
|
| 273 |
+
0.0,
|
| 274 |
+
0.0,
|
| 275 |
+
0.0,
|
| 276 |
+
1.0
|
| 277 |
+
]
|
| 278 |
+
],
|
| 279 |
+
"gripper_centers": [
|
| 280 |
+
[
|
| 281 |
+
426.6217956542969,
|
| 282 |
+
123.15481567382812
|
| 283 |
+
],
|
| 284 |
+
[
|
| 285 |
+
425.427001953125,
|
| 286 |
+
132.0196075439453
|
| 287 |
+
],
|
| 288 |
+
[
|
| 289 |
+
418.86749267578125,
|
| 290 |
+
150.07394409179688
|
| 291 |
+
],
|
| 292 |
+
[
|
| 293 |
+
373.62164306640625,
|
| 294 |
+
143.16433715820312
|
| 295 |
+
],
|
| 296 |
+
[
|
| 297 |
+
333.08203125,
|
| 298 |
+
137.75955200195312
|
| 299 |
+
],
|
| 300 |
+
[
|
| 301 |
+
314.8292541503906,
|
| 302 |
+
138.20587158203125
|
| 303 |
+
],
|
| 304 |
+
[
|
| 305 |
+
258.10089111328125,
|
| 306 |
+
150.27496337890625
|
| 307 |
+
],
|
| 308 |
+
[
|
| 309 |
+
201.0621795654297,
|
| 310 |
+
147.86593627929688
|
| 311 |
+
],
|
| 312 |
+
[
|
| 313 |
+
195.28604125976562,
|
| 314 |
+
163.73622131347656
|
| 315 |
+
],
|
| 316 |
+
[
|
| 317 |
+
198.68606567382812,
|
| 318 |
+
177.16934204101562
|
| 319 |
+
],
|
| 320 |
+
[
|
| 321 |
+
203.47894287109375,
|
| 322 |
+
191.4151611328125
|
| 323 |
+
],
|
| 324 |
+
[
|
| 325 |
+
199.7913818359375,
|
| 326 |
+
208.15733337402344
|
| 327 |
+
],
|
| 328 |
+
[
|
| 329 |
+
198.03172302246094,
|
| 330 |
+
200.61175537109375
|
| 331 |
+
],
|
| 332 |
+
[
|
| 333 |
+
193.58767700195312,
|
| 334 |
+
213.98919677734375
|
| 335 |
+
],
|
| 336 |
+
[
|
| 337 |
+
192.9358367919922,
|
| 338 |
+
210.58206176757812
|
| 339 |
+
],
|
| 340 |
+
[
|
| 341 |
+
228.89073181152344,
|
| 342 |
+
185.62550354003906
|
| 343 |
+
],
|
| 344 |
+
[
|
| 345 |
+
269.5833740234375,
|
| 346 |
+
141.7576904296875
|
| 347 |
+
],
|
| 348 |
+
[
|
| 349 |
+
303.20037841796875,
|
| 350 |
+
107.98614501953125
|
| 351 |
+
],
|
| 352 |
+
[
|
| 353 |
+
335.219970703125,
|
| 354 |
+
81.14295959472656
|
| 355 |
+
],
|
| 356 |
+
[
|
| 357 |
+
356.4022521972656,
|
| 358 |
+
81.59696960449219
|
| 359 |
+
],
|
| 360 |
+
[
|
| 361 |
+
361.2571716308594,
|
| 362 |
+
88.62488555908203
|
| 363 |
+
],
|
| 364 |
+
[
|
| 365 |
+
366.9134521484375,
|
| 366 |
+
80.95651245117188
|
| 367 |
+
],
|
| 368 |
+
[
|
| 369 |
+
376.1741638183594,
|
| 370 |
+
91.07380676269531
|
| 371 |
+
],
|
| 372 |
+
[
|
| 373 |
+
375.418701171875,
|
| 374 |
+
85.52061462402344
|
| 375 |
+
],
|
| 376 |
+
[
|
| 377 |
+
374.539794921875,
|
| 378 |
+
73.63468170166016
|
| 379 |
+
],
|
| 380 |
+
[
|
| 381 |
+
368.0718078613281,
|
| 382 |
+
57.40901184082031
|
| 383 |
+
],
|
| 384 |
+
[
|
| 385 |
+
366.7940673828125,
|
| 386 |
+
55.938743591308594
|
| 387 |
+
]
|
| 388 |
+
],
|
| 389 |
+
"depth_max": 2.8617358207702637,
|
| 390 |
+
"depth_min": 0.5774983763694763,
|
| 391 |
+
"intrinsic": [
|
| 392 |
+
[
|
| 393 |
+
597.4620361328125,
|
| 394 |
+
0.0,
|
| 395 |
+
259.0
|
| 396 |
+
],
|
| 397 |
+
[
|
| 398 |
+
0.0,
|
| 399 |
+
596.566650390625,
|
| 400 |
+
196.0
|
| 401 |
+
],
|
| 402 |
+
[
|
| 403 |
+
0.0,
|
| 404 |
+
0.0,
|
| 405 |
+
1.0
|
| 406 |
+
]
|
| 407 |
+
],
|
| 408 |
+
"extrinsic": [
|
| 409 |
+
[
|
| 410 |
+
1.0,
|
| 411 |
+
6.279609078774229e-05,
|
| 412 |
+
2.0891707208647858e-07,
|
| 413 |
+
1.527405038359575e-05
|
| 414 |
+
],
|
| 415 |
+
[
|
| 416 |
+
-6.279609078774229e-05,
|
| 417 |
+
1.0,
|
| 418 |
+
-2.7362764740246348e-05,
|
| 419 |
+
-3.4396754927001894e-05
|
| 420 |
+
],
|
| 421 |
+
[
|
| 422 |
+
-2.106353349518031e-07,
|
| 423 |
+
2.736275018833112e-05,
|
| 424 |
+
1.0,
|
| 425 |
+
2.792243867588695e-05
|
| 426 |
+
]
|
| 427 |
+
],
|
| 428 |
+
"selected_indexes": [
|
| 429 |
+
0,
|
| 430 |
+
4,
|
| 431 |
+
7,
|
| 432 |
+
10,
|
| 433 |
+
13,
|
| 434 |
+
16,
|
| 435 |
+
19,
|
| 436 |
+
22,
|
| 437 |
+
26
|
| 438 |
+
],
|
| 439 |
+
"object_trajectory": [
|
| 440 |
+
[
|
| 441 |
+
183.0,
|
| 442 |
+
215.50001525878906
|
| 443 |
+
],
|
| 444 |
+
[
|
| 445 |
+
184.2218780517578,
|
| 446 |
+
215.8251190185547
|
| 447 |
+
],
|
| 448 |
+
[
|
| 449 |
+
184.08963012695312,
|
| 450 |
+
215.7145538330078
|
| 451 |
+
],
|
| 452 |
+
[
|
| 453 |
+
183.94805908203125,
|
| 454 |
+
215.67404174804688
|
| 455 |
+
],
|
| 456 |
+
[
|
| 457 |
+
183.78424072265625,
|
| 458 |
+
215.7195281982422
|
| 459 |
+
],
|
| 460 |
+
[
|
| 461 |
+
182.857666015625,
|
| 462 |
+
215.6344757080078
|
| 463 |
+
],
|
| 464 |
+
[
|
| 465 |
+
183.66099548339844,
|
| 466 |
+
215.47764587402344
|
| 467 |
+
],
|
| 468 |
+
[
|
| 469 |
+
184.20834350585938,
|
| 470 |
+
215.44728088378906
|
| 471 |
+
],
|
| 472 |
+
[
|
| 473 |
+
185.14224243164062,
|
| 474 |
+
216.11697387695312
|
| 475 |
+
],
|
| 476 |
+
[
|
| 477 |
+
185.79945373535156,
|
| 478 |
+
215.87295532226562
|
| 479 |
+
],
|
| 480 |
+
[
|
| 481 |
+
183.84210205078125,
|
| 482 |
+
210.76217651367188
|
| 483 |
+
],
|
| 484 |
+
[
|
| 485 |
+
184.15492248535156,
|
| 486 |
+
210.84417724609375
|
| 487 |
+
],
|
| 488 |
+
[
|
| 489 |
+
183.94277954101562,
|
| 490 |
+
210.76185607910156
|
| 491 |
+
],
|
| 492 |
+
[
|
| 493 |
+
186.9722900390625,
|
| 494 |
+
220.2193145751953
|
| 495 |
+
],
|
| 496 |
+
[
|
| 497 |
+
187.53665161132812,
|
| 498 |
+
218.11715698242188
|
| 499 |
+
],
|
| 500 |
+
[
|
| 501 |
+
212.73623657226562,
|
| 502 |
+
206.73794555664062
|
| 503 |
+
],
|
| 504 |
+
[
|
| 505 |
+
243.5383758544922,
|
| 506 |
+
167.65220642089844
|
| 507 |
+
],
|
| 508 |
+
[
|
| 509 |
+
272.02978515625,
|
| 510 |
+
126.96189880371094
|
| 511 |
+
],
|
| 512 |
+
[
|
| 513 |
+
299.04254150390625,
|
| 514 |
+
100.32209014892578
|
| 515 |
+
],
|
| 516 |
+
[
|
| 517 |
+
320.26116943359375,
|
| 518 |
+
102.40118408203125
|
| 519 |
+
],
|
| 520 |
+
[
|
| 521 |
+
323.7488708496094,
|
| 522 |
+
114.8606948852539
|
| 523 |
+
],
|
| 524 |
+
[
|
| 525 |
+
327.75042724609375,
|
| 526 |
+
131.8707275390625
|
| 527 |
+
],
|
| 528 |
+
[
|
| 529 |
+
328.8583679199219,
|
| 530 |
+
165.73123168945312
|
| 531 |
+
],
|
| 532 |
+
[
|
| 533 |
+
333.2975769042969,
|
| 534 |
+
164.06961059570312
|
| 535 |
+
],
|
| 536 |
+
[
|
| 537 |
+
341.61895751953125,
|
| 538 |
+
164.16416931152344
|
| 539 |
+
],
|
| 540 |
+
[
|
| 541 |
+
343.34588623046875,
|
| 542 |
+
165.15626525878906
|
| 543 |
+
],
|
| 544 |
+
[
|
| 545 |
+
341.8263244628906,
|
| 546 |
+
163.93223571777344
|
| 547 |
+
]
|
| 548 |
+
]
|
| 549 |
+
}
|
000472/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
put banana in colander
|