[
  {
    "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
  }
]