{"intrinsics":{"fx":522.41748046875,"fy":522.41748046875,"cx":644.8779907226562,"cy":356.0326232910156},"world2cam":[[-0.8619892597198486,-0.5066889524459839,0.015520421788096428,0.563349187374115],[-0.21998238563537598,0.3463038504123688,-0.9119656085968018,0.3864826261997223],[0.4567081928253174,-0.7895187735557556,-0.4099728465080261,0.6581469774246216],[0.0,0.0,0.0,1.0]],"frames":[{"joint_positions":[0.22940486669540405,-0.12326575070619583,0.22969070076942444,-1.7686818838119507,-0.2092684805393219,1.5047248601913452,-0.24214938282966614],"gripper_position":0.9911894276295312},{"joint_positions":[0.22462956607341766,-0.13327261805534363,0.22880971431732178,-1.779138445854187,-0.2433318942785263,1.5077850818634033,-0.21796980500221252],"gripper_position":0.9911894276295312},{"joint_positions":[0.21970108151435852,-0.143222376704216,0.22843487560749054,-1.7905367612838745,-0.27294284105300903,1.5129534006118774,-0.19345052540302277],"gripper_position":0.9911894276295312},{"joint_positions":[0.21542030572891235,-0.15276102721691132,0.22805295884609222,-1.8017469644546509,-0.3035716712474823,1.5222150087356567,-0.16455619037151337],"gripper_position":0.9911894276295312},{"joint_positions":[0.2108215093612671,-0.1638852208852768,0.2275492399930954,-1.8171905279159546,-0.3351859152317047,1.5375882387161255,-0.13258859515190125],"gripper_position":0.9911894276295312},{"joint_positions":[0.20693615078926086,-0.17362289130687714,0.2269478142261505,-1.833120584487915,-0.3633974492549896,1.5547155141830444,-0.10063943266868591],"gripper_position":0.9911894276295312},{"joint_positions":[0.20318791270256042,-0.18379293382167816,0.2265612930059433,-1.8526177406311035,-0.3934692442417145,1.5751489400863647,-0.06735005974769592],"gripper_position":0.9911894276295312},{"joint_positions":[0.1990702748298645,-0.1936720311641693,0.22644095122814178,-1.874815821647644,-0.4231496751308441,1.6027411222457886,-0.03694005310535431],"gripper_position":0.9911894276295312},{"joint_positions":[0.1942160427570343,-0.20340101420879364,0.22628700733184814,-1.900259017944336,-0.45442306995391846,1.6385489702224731,-0.0068001155741512775],"gripper_position":0.9911894276295312},{"joint_positions":[0.18924252688884735,-0.21263882517814636,0.22585907578468323,-1.9265354871749878,-0.48234811425209045,1.6782389879226685,0.02203051745891571],"gripper_position":0.9911894276295312},{"joint_positions":[0.18395432829856873,-0.22135129570960999,0.22511158883571625,-1.9532884359359741,-0.5077938437461853,1.7224812507629395,0.047120511531829834],"gripper_position":0.9911894276295312},{"joint_positions":[0.1782042235136032,-0.2299460470676422,0.22329668700695038,-1.9817227125167847,-0.5321730375289917,1.7778146266937256,0.07350172102451324],"gripper_position":0.9911894276295312},{"joint_positions":[0.17178842425346375,-0.2376633584499359,0.22081877291202545,-2.0085701942443848,-0.5521993041038513,1.8352272510528564,0.0988457202911377],"gripper_position":0.9911894276295312},{"joint_positions":[0.1644338220357895,-0.24478860199451447,0.21715041995048523,-2.035304069519043,-0.5701687335968018,1.897976279258728,0.12180446088314056],"gripper_position":0.9911894276295312},{"joint_positions":[0.15666529536247253,-0.25078070163726807,0.21192626655101776,-2.061690092086792,-0.5911870002746582,1.9637877941131592,0.14225389063358307],"gripper_position":0.9911894276295312},{"joint_positions":[0.1480221301317215,-0.2561960816383362,0.20511122047901154,-2.0881528854370117,-0.6148425936698914,2.0339276790618896,0.16162680089473724],"gripper_position":0.9911894276295312},{"joint_positions":[0.1370449960231781,-0.2610090672969818,0.19800302386283875,-2.113784074783325,-0.6398694515228271,2.103365659713745,0.18072934448719025],"gripper_position":0.9911894276295312},{"joint_positions":[0.1252111792564392,-0.264747679233551,0.18790072202682495,-2.1389763355255127,-0.6578806638717651,2.176194190979004,0.19103921949863434],"gripper_position":0.9911894276295312},{"joint_positions":[0.11737165600061417,-0.26443663239479065,0.18402700126171112,-2.148548126220703,-0.6598964929580688,2.1963255405426025,0.1911899894475937],"gripper_position":0.9911894276295312},{"joint_positions":[0.11543182283639908,-0.2629937529563904,0.18405725061893463,-2.146716594696045,-0.6597244739532471,2.1955909729003906,0.190613254904747],"gripper_position":0.9911894276295312},{"joint_positions":[0.11575834453105927,-0.2632233798503876,0.1861545443534851,-2.144388437271118,-0.6595330238342285,2.1953377723693848,0.190609872341156],"gripper_position":0.9911894276295312},{"joint_positions":[0.11650458723306656,-0.263536274433136,0.18929053843021393,-2.143110513687134,-0.6593723893165588,2.195061445236206,0.19061464071273804],"gripper_position":0.9911894276295312},{"joint_positions":[0.11743045598268509,-0.2639886140823364,0.19122029840946198,-2.1427643299102783,-0.6593088507652283,2.194869041442871,0.1906123161315918],"gripper_position":0.9911894276295312},{"joint_positions":[0.11768212169408798,-0.2641782760620117,0.19125966727733612,-2.1426315307617188,-0.6593065857887268,2.194833517074585,0.19061389565467834],"gripper_position":0.9911894276295312},{"joint_positions":[0.11767158657312393,-0.2641666829586029,0.19122813642024994,-2.142559766769409,-0.6593058705329895,2.1948001384735107,0.1906200647354126],"gripper_position":0.9911894276295312},{"joint_positions":[0.1176835373044014,-0.2641769051551819,0.19124466180801392,-2.142540454864502,-0.6593021154403687,2.194779872894287,0.19061927497386932],"gripper_position":0.9911894276295312},{"joint_positions":[0.11743604391813278,-0.264162540435791,0.19119460880756378,-2.14253306388855,-0.659301221370697,2.1948041915893555,0.19062082469463348],"gripper_position":0.9911894276295312},{"joint_positions":[0.11464843153953552,-0.2640310227870941,0.191436767578125,-2.1426448822021484,-0.6707848906517029,2.1961822509765625,0.19409185647964478],"gripper_position":0.9911894276295312},{"joint_positions":[0.10875923931598663,-0.26311492919921875,0.19135445356369019,-2.1434762477874756,-0.6973420977592468,2.2001514434814453,0.20648770034313202],"gripper_position":0.9911894276295312},{"joint_positions":[0.09987229108810425,-0.2613913416862488,0.1909845769405365,-2.1461849212646484,-0.7311864495277405,2.209017515182495,0.2249959409236908],"gripper_position":0.9911894276295312},{"joint_positions":[0.08970624953508377,-0.25822779536247253,0.19055479764938354,-2.1488099098205566,-0.7672488689422607,2.214332342147827,0.2443685084581375],"gripper_position":0.9911894276295312},{"joint_positions":[0.08009549230337143,-0.2537894546985626,0.19019024074077606,-2.151223659515381,-0.7999213933944702,2.215428590774536,0.2646585702896118],"gripper_position":0.9911894276295312},{"joint_positions":[0.07341130822896957,-0.24852435290813446,0.1893291175365448,-2.1533453464508057,-0.8271456360816956,2.2165138721466064,0.28326356410980225],"gripper_position":0.9911894276295312},{"joint_positions":[0.06800339370965958,-0.24259057641029358,0.18864794075489044,-2.1549367904663086,-0.8554444909095764,2.2166168689727783,0.30345040559768677],"gripper_position":0.9911894276295312},{"joint_positions":[0.06297617405653,-0.2360200732946396,0.18794895708560944,-2.156101942062378,-0.8856330513954163,2.217625379562378,0.3261154294013977],"gripper_position":0.9911894276295312},{"joint_positions":[0.05953454226255417,-0.22845572233200073,0.1863449364900589,-2.1568806171417236,-0.918009877204895,2.2196083068847656,0.3508053123950958],"gripper_position":0.9911894276295312},{"joint_positions":[0.05643107742071152,-0.2212422788143158,0.18453139066696167,-2.1578667163848877,-0.9509106278419495,2.222867250442505,0.37586477398872375],"gripper_position":0.9911894276295312},{"joint_positions":[0.05448416247963905,-0.21320633590221405,0.18193387985229492,-2.1585817337036133,-0.9841187000274658,2.227416515350342,0.40233489871025085],"gripper_position":0.9911894276295312},{"joint_positions":[0.05257953703403473,-0.204596608877182,0.1785203218460083,-2.159348249435425,-1.0193406343460083,2.238521099090576,0.43079715967178345],"gripper_position":0.9911894276295312},{"joint_positions":[0.05200213938951492,-0.195211723446846,0.1729712039232254,-2.1604838371276855,-1.0543335676193237,2.2568626403808594,0.46030205488204956],"gripper_position":0.9911894276295312},{"joint_positions":[0.05135785788297653,-0.1851172298192978,0.1660890281200409,-2.161618709564209,-1.0909448862075806,2.284404993057251,0.48818451166152954],"gripper_position":0.9911894276295312},{"joint_positions":[0.04982712119817734,-0.1743542104959488,0.1576305776834488,-2.1630353927612305,-1.1325865983963013,2.318086624145508,0.5192309021949768],"gripper_position":0.9911894276295312},{"joint_positions":[0.04769203066825867,-0.16315671801567078,0.14928635954856873,-2.163931131362915,-1.1781322956085205,2.350738048553467,0.5536641478538513],"gripper_position":0.9911894276295312},{"joint_positions":[0.04468716308474541,-0.15135687589645386,0.14086394011974335,-2.1642749309539795,-1.2255574464797974,2.384176254272461,0.5891876220703125],"gripper_position":0.9911894276295312},{"joint_positions":[0.04128997400403023,-0.14085344970226288,0.1325024962425232,-2.164397954940796,-1.2767974138259888,2.4105377197265625,0.6246768832206726],"gripper_position":0.9911894276295312},{"joint_positions":[0.03937533125281334,-0.13351942598819733,0.12527786195278168,-2.1650168895721436,-1.3276885747909546,2.4302353858947754,0.6603490710258484],"gripper_position":0.9911894276295312},{"joint_positions":[0.039044249802827835,-0.12715888023376465,0.11767856031656265,-2.1657044887542725,-1.376365065574646,2.4462504386901855,0.6956303715705872],"gripper_position":0.9911894276295312},{"joint_positions":[0.03881877660751343,-0.12040366977453232,0.10966610163450241,-2.16584849357605,-1.4195786714553833,2.4577865600585938,0.7279408574104309],"gripper_position":0.9911894276295312},{"joint_positions":[0.04013359919190407,-0.12138038128614426,0.10684093087911606,-2.172363519668579,-1.4536064863204956,2.461656093597412,0.7583207488059998],"gripper_position":0.9911894276295312},{"joint_positions":[0.04028389975428581,-0.12143227458000183,0.10488607734441757,-2.1769614219665527,-1.4855626821517944,2.46596360206604,0.786746084690094],"gripper_position":0.9911894276295312},{"joint_positions":[0.040658894926309586,-0.12322135269641876,0.10315492749214172,-2.182366132736206,-1.5085841417312622,2.4693117141723633,0.8106895685195923],"gripper_position":0.9911894276295312},{"joint_positions":[0.04080542176961899,-0.12455780804157257,0.10116314888000488,-2.1851813793182373,-1.5175883769989014,2.4739110469818115,0.8238168954849243],"gripper_position":0.9911894276295312},{"joint_positions":[0.04100550338625908,-0.1267724633216858,0.09649006277322769,-2.1854991912841797,-1.5052251815795898,2.4852001667022705,0.8223807215690613],"gripper_position":0.9911894276295312},{"joint_positions":[0.04086552560329437,-0.12956418097019196,0.08873504400253296,-2.1851770877838135,-1.4698518514633179,2.5023982524871826,0.8027268052101135],"gripper_position":0.9911894276295312},{"joint_positions":[0.039470549672842026,-0.12882551550865173,0.07649323344230652,-2.185546636581421,-1.3978997468948364,2.5290687084198,0.7577781081199646],"gripper_position":0.9911894276295312},{"joint_positions":[0.0395396389067173,-0.12730994820594788,0.060259461402893066,-2.1865508556365967,-1.3142938613891602,2.5559542179107666,0.6969128251075745],"gripper_position":0.9911894276295312},{"joint_positions":[0.0398542582988739,-0.12753044068813324,0.04510084167122841,-2.189995050430298,-1.2331141233444214,2.580738067626953,0.6346992254257202],"gripper_position":0.9911894276295312},{"joint_positions":[0.03985093533992767,-0.12984424829483032,0.032001346349716187,-2.1982688903808594,-1.150433897972107,2.6048433780670166,0.5721484422683716],"gripper_position":0.9911894276295312},{"joint_positions":[0.04890162870287895,-0.1341686099767685,0.013319439254701138,-2.211507558822632,-1.0681779384613037,2.62152099609375,0.5114385485649109],"gripper_position":0.9911894276295312},{"joint_positions":[0.07057586312294006,-0.14127753674983978,-0.01472958642989397,-2.22796368598938,-0.98505038022995,2.6308798789978027,0.4506429433822632],"gripper_position":0.9911894276295312},{"joint_positions":[0.1014176458120346,-0.1513841450214386,-0.04787344112992287,-2.2471861839294434,-0.9033235311508179,2.6315248012542725,0.39248451590538025],"gripper_position":0.9911894276295312},{"joint_positions":[0.14204919338226318,-0.16553036868572235,-0.08649863302707672,-2.267775297164917,-0.8215001821517944,2.6230688095092773,0.3362589180469513],"gripper_position":0.9735682822037975},{"joint_positions":[0.18979237973690033,-0.18332244455814362,-0.12839320302009583,-2.2857022285461426,-0.7411332726478577,2.6050243377685547,0.28394243121147156],"gripper_position":0.9207048466113927},{"joint_positions":[0.2427700161933899,-0.20493458211421967,-0.17211082577705383,-2.2978453636169434,-0.6601429581642151,2.572173833847046,0.23770678043365479],"gripper_position":0.8281938315855002},{"joint_positions":[0.2946777045726776,-0.23187261819839478,-0.21347838640213013,-2.30293345451355,-0.5790638327598572,2.5281684398651123,0.19454284012317657],"gripper_position":0.7621145343558101},{"joint_positions":[0.3334779143333435,-0.26291346549987793,-0.2420378029346466,-2.3007688522338867,-0.4992586076259613,2.4712226390838623,0.1555560678243637],"gripper_position":0.6916299608704277},{"joint_positions":[0.3535318076610565,-0.2980845272541046,-0.2536431849002838,-2.290684938430786,-0.4186359941959381,2.4024205207824707,0.11976579576730728],"gripper_position":0.6035242385353315},{"joint_positions":[0.3614652156829834,-0.3319845497608185,-0.2562049627304077,-2.2730398178100586,-0.35196924209594727,2.3275911808013916,0.09594999253749847],"gripper_position":0.5374449522623775},{"joint_positions":[0.3448306620121002,-0.36410465836524963,-0.23659366369247437,-2.2496635913848877,-0.27894729375839233,2.248131036758423,0.07771089673042297],"gripper_position":0.47136566598942353},{"joint_positions":[0.3082719147205353,-0.3906872570514679,-0.20329870283603668,-2.2226452827453613,-0.20826594531536102,2.1694343090057373,0.061143066734075546],"gripper_position":0.3832599217408553},{"joint_positions":[0.2741864323616028,-0.41149935126304626,-0.17532525956630707,-2.1939542293548584,-0.14907817542552948,2.093935489654541,0.055721476674079895],"gripper_position":0.3171806354679013},{"joint_positions":[0.2429186850786209,-0.42696285247802734,-0.15207093954086304,-2.164778709411621,-0.10046961903572083,2.0251624584198,0.05602908134460449],"gripper_position":0.23348015651828935},{"joint_positions":[0.21433806419372559,-0.4378494918346405,-0.13467776775360107,-2.1360135078430176,-0.05231933668255806,1.9666849374771118,0.058440595865249634],"gripper_position":0.1629955611194348},{"joint_positions":[0.18855445086956024,-0.44581425189971924,-0.12255457043647766,-2.110460042953491,-0.009226462803781033,1.9223933219909668,0.062644824385643],"gripper_position":0.0969162748464808},{"joint_positions":[0.1646876335144043,-0.4512399137020111,-0.1122867688536644,-2.0900003910064697,0.022291596978902817,1.8940317630767822,0.07283930480480194],"gripper_position":0.013215839723813128},{"joint_positions":[0.1417253315448761,-0.455579936504364,-0.10098579525947571,-2.072499990463257,0.039272893220186234,1.8787918090820312,0.08688783645629883],"gripper_position":0.0},{"joint_positions":[0.12052332609891891,-0.46093204617500305,-0.08796452730894089,-2.0600879192352295,0.04450751468539238,1.8762956857681274,0.10204338282346725],"gripper_position":0.0},{"joint_positions":[0.10040412098169327,-0.4691771864891052,-0.07036558538675308,-2.052381992340088,0.04347804933786392,1.8857979774475098,0.11093025654554367],"gripper_position":0.0},{"joint_positions":[0.0842786505818367,-0.4798833131790161,-0.050187692046165466,-2.0510952472686768,0.0375794880092144,1.91252601146698,0.11198720335960388],"gripper_position":0.0},{"joint_positions":[0.07459527254104614,-0.4902186989784241,-0.033472392708063126,-2.0511422157287598,0.0352398082613945,1.9316014051437378,0.11199754476547241],"gripper_position":0.0},{"joint_positions":[0.06949909776449203,-0.4983963370323181,-0.021824831143021584,-2.051342725753784,0.03445356339216232,1.9374582767486572,0.11201638728380203],"gripper_position":0.0}]}