| [ |
| { |
| "triplet": "(scrape off, knife, plate)", |
| "seq_id": "20230926_034", |
| "n_frames": 228, |
| "frame": "pseudo robot base (compute_pseudo_base)", |
| "qpos_layout": "[x,y,z,qw,qx,qy,qz] wrist freejoint + 12 Inspire joints", |
| "hands": { |
| "left": { |
| "tip_links": [ |
| "thumb_tip", |
| "index_tip", |
| "middle_tip", |
| "ring_tip", |
| "pinky_tip" |
| ], |
| "mano_tip_joints": [ |
| 4, |
| 8, |
| 12, |
| 16, |
| 20 |
| ], |
| "scale_mano_to_inspire": 1.2395, |
| "joint_names": [ |
| "thumb_proximal_yaw_joint", |
| "thumb_proximal_pitch_joint", |
| "thumb_intermediate_joint", |
| "thumb_distal_joint", |
| "index_proximal_joint", |
| "index_intermediate_joint", |
| "middle_proximal_joint", |
| "middle_intermediate_joint", |
| "ring_proximal_joint", |
| "ring_intermediate_joint", |
| "pinky_proximal_joint", |
| "pinky_intermediate_joint" |
| ], |
| "tip_err_cm": { |
| "thumb": { |
| "mean": 7.304, |
| "max": 8.184 |
| }, |
| "index": { |
| "mean": 2.899, |
| "max": 4.512 |
| }, |
| "middle": { |
| "mean": 2.326, |
| "max": 3.116 |
| }, |
| "ring": { |
| "mean": 2.4, |
| "max": 2.89 |
| }, |
| "pinky": { |
| "mean": 3.028, |
| "max": 3.501 |
| } |
| }, |
| "tip_err_cm_all": { |
| "mean": 3.591, |
| "max": 8.184 |
| }, |
| "wrist_ori_err_deg": { |
| "mean": 1.185, |
| "max": 1.425 |
| } |
| }, |
| "right": { |
| "tip_links": [ |
| "thumb_tip", |
| "index_tip", |
| "middle_tip", |
| "ring_tip", |
| "pinky_tip" |
| ], |
| "mano_tip_joints": [ |
| 4, |
| 8, |
| 12, |
| 16, |
| 20 |
| ], |
| "scale_mano_to_inspire": 1.2395, |
| "joint_names": [ |
| "thumb_proximal_yaw_joint", |
| "thumb_proximal_pitch_joint", |
| "thumb_intermediate_joint", |
| "thumb_distal_joint", |
| "index_proximal_joint", |
| "index_intermediate_joint", |
| "middle_proximal_joint", |
| "middle_intermediate_joint", |
| "ring_proximal_joint", |
| "ring_intermediate_joint", |
| "pinky_proximal_joint", |
| "pinky_intermediate_joint" |
| ], |
| "tip_err_cm": { |
| "thumb": { |
| "mean": 11.507, |
| "max": 15.725 |
| }, |
| "index": { |
| "mean": 3.513, |
| "max": 4.724 |
| }, |
| "middle": { |
| "mean": 1.714, |
| "max": 3.754 |
| }, |
| "ring": { |
| "mean": 4.76, |
| "max": 6.855 |
| }, |
| "pinky": { |
| "mean": 8.47, |
| "max": 10.271 |
| } |
| }, |
| "tip_err_cm_all": { |
| "mean": 5.993, |
| "max": 15.725 |
| }, |
| "wrist_ori_err_deg": { |
| "mean": 1.724, |
| "max": 2.285 |
| } |
| } |
| }, |
| "wall_time_s": 5.5 |
| } |
| ] |
