{
  "task": "wipe_board",
  "dataset_name": "oakinkv2",
  "robot_type": "sharpa",
  "embodiment_type": "right",
  "data_id": 0,
  "right_object_mesh_dir": "processed/oakinkv2/assets/objects/O02_0055_00002",
  "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_02__A007/seq__eb5f919d73a9ac759146__2023-04-20-14-20-06",
  "oakink_seq_token": "scene_02__A007++seq__eb5f919d73a9ac759146__2023-04-20-14-20-06",
  "oakink_obj_id": "O02@0055@00002",
  "oakink_primitive": "brush_whiteboard",
  "oakink_grasp_range": [
    867,
    2593
  ],
  "oakink_window": [
    687,
    1167
  ],
  "obj_first_frame_lowest_world_z": 0.0,
  "scene_lowest_world_z": -0.0002855239820290442,
  "object_descends_from_frame0": false,
  "trajectory_z_offset": 0.0444893619151409,
  "right_obj_first_frame_xy": [
    0.3156648607724243,
    -0.12733603169148697
  ],
  "left_obj_first_frame_xy": [
    0.0,
    0.0
  ],
  "right_plate_top_world_z": 0.009999999999999997,
  "right_plate_bottom_world_z": -3.469446951953614e-18,
  "plate_size": 0.03,
  "plate_thickness": 0.01,
  "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0055_00002/convex"
}