{
  "task": "stir_beaker",
  "dataset_name": "oakinkv2",
  "robot_type": "sharpa",
  "embodiment_type": "right",
  "data_id": 0,
  "right_object_mesh_dir": "processed/oakinkv2/assets/objects/O02_0033_00001",
  "left_object_mesh_dir": null,
  "ref_dt": 0.02,
  "pre_grasp_seconds": 1.5,
  "post_grasp_seconds": 2.5,
  "n_frames": 200,
  "oakink_seq_key": "scene_01__A005/seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31",
  "oakink_seq_token": "scene_01__A005++seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31",
  "oakink_obj_id": "O02@0033@00001",
  "oakink_primitive": "stir",
  "oakink_grasp_range": [
    8047,
    9208
  ],
  "oakink_window": [
    7867,
    8347
  ],
  "obj_first_frame_lowest_world_z": 0.0,
  "scene_lowest_world_z": -0.0014360413914793202,
  "object_descends_from_frame0": false,
  "trajectory_z_offset": 0.004580366042942055,
  "right_obj_first_frame_xy": [
    0.20226336718514756,
    0.16152804864696743
  ],
  "left_obj_first_frame_xy": [
    0.0,
    0.0
  ],
  "right_plate_top_world_z": 0.01,
  "right_plate_bottom_world_z": 0.0,
  "plate_size": 0.03,
  "plate_thickness": 0.01,
  "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0033_00001/convex"
}